Seedling throwing control method and seedling throwing system

Abstract

The invention provides a seedling slinging control method and a seedling slinging system, and relates to the technical field of seedling slinging. The seedling throwing control method is applied to an unmanned aerial vehicle mounted with a seedling throwing system. The seedling throwing system comprises a load module used for being connected with the unmanned aerial vehicle, two seedling conveying discs arranged on the two opposite sides of the load module, and two seedling taking modules matched with the two seedling conveying discs to work. The seedling throwing control method comprises the following steps: when an unmanned aerial vehicle performs seedling throwing operation, controlling a seedling conveying disc to transversely move in a reciprocating manner, and controlling a seedling taking module to separate seedlings from blanket seedlings borne on the seedling conveying disc and then throw out the seedlings; wherein the moving directions of the two seedling feeding trays are opposite when the two seedling feeding trays transversely move back and forth, so that the posture balance of the unmanned aerial vehicle is ensured. According to the seedling throwing control method, the machine body can be prevented from inclining in the air seedling throwing process, so that the flight safety and stability during air seedling throwing are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of seedling throwing, and in particular to a seedling throwing control method and a seedling throwing system. Background Art

[0002] For mechanized rice planting, there are actually only two solutions on the market: rice transplanter and rice throwing machine. In the existing technology, both solutions rely on agricultural machinery that travels on the ground. For rice throwing machines, a seedling tray 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 used.

[0003] On the contrary, the mainstream rice planting agricultural machinery currently popularized is the rice transplanter, and the rice seedling raising method of farmers is mainly based on blanket seedlings. The characteristic of blanket seedlings is that the roots of the seedlings are adhered to each other. Therefore, more seedlings can be cut out of the same size area, while the number of pot seedlings is relatively small. For blanket seedlings, it is currently only suitable for planting by transplanting. If users want to achieve aerial seedling throwing, they need to change the rice seedling raising method. However, if blanket seedlings are used for aerial seedling throwing, at the same time, there will be the problem of how to ensure the stability and safety of the flight during the seedling throwing process. Therefore, a technology that can achieve safe seedling throwing when aerial seedling throwing is urgently needed. Summary of the invention

[0004] The invention provides a seedling throwing control method and a seedling throwing system, which can avoid the inclination of the fuselage during the process of aerial seedling throwing, thereby improving the flight safety and stability during aerial seedling throwing.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0006] In the first aspect, an embodiment of the present invention provides a seedling throwing control method. The seedling throwing control method is applied to a drone equipped with a seedling throwing system, wherein the seedling throwing system includes: a load module for connecting to the drone, two seedling delivery trays arranged on opposite sides of the load module, and two seedling retrieval modules cooperating with the two seedling delivery trays; the seedling throwing control method includes: when the drone performs seedling throwing operation, controlling the seedling delivery tray to move back and forth, and controlling the seedling retrieval module to separate the seedlings from the blanket seedlings carried on the seedling delivery tray and then throw them out; wherein the two seedling delivery trays move in opposite directions when moving back and forth to ensure the posture balance of the drone. The seedling throwing control method can avoid the fuselage tilting during the aerial seedling throwing process, thereby improving the flight safety and stability during aerial seedling throwing.

[0007] In an optional embodiment, the two seedling sending trays include a first seedling sending tray and a second seedling sending tray, and the seedling sending trays are controlled to move back and forth laterally, including: when the first seedling sending tray is controlled to move laterally along a first direction, the second seedling sending tray is controlled to move laterally along a second direction; when the first seedling sending tray is controlled to move laterally along the second direction, the second seedling sending tray is controlled to move laterally along the first direction; wherein the first direction is opposite to the second direction.

[0008] In an optional embodiment, the method further comprises: controlling the first seedling sending tray and the second seedling sending tray to maintain synchronization when they move back and forth.

[0009] In an optional embodiment, controlling the first seedling sending tray and the second seedling sending tray to keep synchronization when reciprocating and lateral movement includes:

[0010] The first seedling sending tray and the second seedling sending tray are controlled to keep synchronization in one or more aspects of starting, accelerating and decelerating when they move back and forth.

[0011] In an optional embodiment, the first seedling sending tray is used as a main seedling sending tray, and the second seedling sending tray is used as a slave seedling sending tray; controlling the first seedling sending tray and the second seedling sending tray to keep synchronization when reciprocating and lateral movement comprises:

[0012] The lateral movement of the slave seedling delivery tray is synchronously controlled according to the real-time position feedback of the main seedling delivery tray.

[0013] In an optional implementation, synchronously controlling the lateral movement of the slave seedling delivery tray according to the real-time position fed back by the master seedling delivery tray comprises:

[0014] The lateral movement of the slave seedling delivery tray is synchronously controlled according to the real-time position and compensation position information fed back by the main seedling delivery tray, so that the real-time positions of the main seedling delivery tray and the slave seedling delivery tray are symmetrically distributed relative to the load module; the compensation position information is used to characterize the position error caused by the delay.

[0015] In an optional implementation, the real-time position fed back by the main seedling delivery tray is converted based on a rotor position sensor provided on the transverse motor of the main seedling delivery tray.

[0016] In an optional embodiment, controlling the first seedling conveying tray to move laterally along the first direction includes:

[0017] When the driving device of the main seedling sending tray is in the position control mode, the preset main seedling sending tray linear speed is converted into a given position of the main seedling sending tray, the main seedling sending tray is controlled to move laterally in a first direction according to the given position, and the main seedling sending tray is controlled to move in the opposite direction after moving to the end point of the lateral movement trajectory.

[0018] In an optional embodiment, controlling the second seedling delivery tray to move laterally along the second direction comprises:

[0019] When the driving device of the slave seedling sending tray is in the position control mode, the given position of the slave seedling sending tray is obtained according to the real-time position feedback from the main seedling sending tray, the slave seedling sending tray is controlled to move laterally in the second direction according to the given position, and the slave seedling sending tray is controlled to move in the reverse direction after moving to the end point of the lateral movement trajectory.

[0020] In an optional embodiment, obtaining a given position of the slave seedling delivery tray according to the real-time position fed back by the master seedling delivery tray comprises:

[0021] The given position of the slave seedling delivery tray is obtained based on the real-time position and compensated position information fed back by the main seedling delivery tray. The compensated position information is used to characterize the position error caused by the delay.

[0022] In an optional embodiment, before controlling the seedling delivery tray to perform reciprocating transverse movement, the method further includes:

[0023] Control the two seedling delivery trays to move horizontally to the opposite ends of the load module;

[0024] Determine whether the two seedling delivery trays have reached the opposite ends of the load module. If so, it is confirmed that the initialization is successful; otherwise, it is confirmed that the initialization has failed.

[0025] In an optional implementation, after confirming that the initialization fails, the method further includes:

[0026] Control the alarm to sound an alarm.

[0027] On the other hand, an embodiment of the present invention further provides a seedling throwing system, which includes: a load module, the load module is used to connect with a drone;

[0028] Two seedling delivery trays, which are arranged on opposite sides of the load module and are used to carry blanket seedlings respectively;

[0029] Two seedling taking modules, the two seedling taking modules are respectively arranged on the load module, and the two seedling taking modules correspond to the two seedling delivery trays one by one;

[0030] The control module is used to control the seedling delivery tray to move back and forth when the drone is performing seedling throwing operations, and to control the seedling retrieval module to separate the seedlings from the blanket seedlings carried on the seedling delivery tray and then throw them out; wherein the two seedling delivery trays move in opposite directions when moving back and forth to ensure the posture balance of the drone.

[0031] In an optional embodiment, the seedling throwing system further includes: a driving device; the driving device is electrically connected to the control module; the driving device is arranged on the load module, and the driving device is used to drive the two seedling delivery trays to reciprocate and move horizontally.

[0032] In an optional embodiment, the driving device includes: two driving motors; the two driving motors are respectively connected to the two seedling delivery trays in a one-to-one corresponding manner, and the two driving motors are used to respectively drive the corresponding seedling delivery trays to perform reciprocating transverse movement.

[0033] In an optional embodiment, the seedling throwing system further comprises:

[0034] Two first magnets, one end of each seedling delivery tray is provided with a first magnet;

[0035] Two second magnets, each seedling delivery tray is provided with a second magnet at the other end, and the first magnets of the two seedling delivery trays are far away from each other;

[0036] Two first sensors, both of which are arranged on the load module, and the two first sensors correspond to the two first magnets one by one;

[0037] Two second sensors are both arranged on the load module, and the two second sensors correspond to the two second magnets one by one.

[0038] In an optional embodiment, the seedling throwing system further includes: an alarm; the alarm is used to issue an alarm when any magnet moves to the end point of the transverse trajectory close to its corresponding sensor and the sensor corresponding to the magnet does not detect a position signal.

[0039] In an optional embodiment, the two seedling sending trays include a main seedling sending tray and a slave seedling sending tray, and the seedling throwing system also includes: a rotor position sensor; the rotor position sensor is arranged on a driving motor for driving the main seedling sending tray to move laterally, and the control module is used to obtain the position information of the main seedling sending tray according to the position information obtained by the rotor position sensor, and control the lateral movement of the slave seedling sending tray according to the position information.

[0040] In an optional embodiment, the control module is also used to execute the above-mentioned seedling throwing control method.

[0041] The beneficial effects of the rice seedling throwing control method according to the embodiment of the present invention include, for example:

[0042] The seedling throwing control method provided in the present application is applied to a drone equipped with a seedling throwing system, wherein the seedling throwing system includes: a load module for connecting to the drone, two seedling delivery trays arranged on opposite sides of the load module, and two seedling retrieval modules cooperating with the two seedling delivery trays; the seedling throwing control method includes: when the drone performs the seedling throwing operation, controlling the seedling delivery tray to move back and forth, and controlling the seedling retrieval module to separate the seedlings from the blanket seedlings carried on the seedling delivery tray and then throw them out; wherein the two seedling delivery trays move in opposite directions when moving back and forth to ensure the posture balance of the drone. The present application arranges two seedling delivery trays on opposite sides of the load module, and when the UAV performs aerial seedling throwing operations, the two seedling delivery trays are controlled to keep the lateral movement directions of the two seedling delivery trays in opposite directions at all times during the reciprocating lateral movement. In this way, when the two seedling delivery trays are reciprocatingly moved laterally and cooperate with the seedling retrieval module to throw the seedlings, the tilting forces of the two seedling delivery trays can offset each other, thereby offsetting the impact force of the two seedling delivery trays on the UAV during the lateral movement process. In this way, when the UAV performs aerial seedling throwing operations, the UAV fuselage can be prevented from tilting, thereby ensuring the posture balance of the UAV, and further improving the safety and stability of flight during aerial seedling throwing.

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A structural diagram of a seedling throwing system provided in one embodiment of the present application;

[0046] Figure 2 A structural diagram of a seedling throwing mechanism provided in an embodiment of the present application from a first viewing angle;

[0047] Figure 3 A structural diagram of a seedling throwing mechanism provided in an embodiment of the present application from a second viewing angle;

[0048] Figure 4 A structural diagram of a seedling throwing system provided in yet another embodiment of the present application from a first perspective;

[0049] Figure 5 A structural diagram of a seedling throwing system provided in yet another embodiment of the present application from a second viewing angle;

[0050] Figure 6A schematic diagram of the operation of the rice seedling throwing control method provided in an embodiment of the present application;

[0051] Figure 7 A schematic diagram of a process flow of a rice seedling throwing control method provided in an embodiment of the present application;

[0052] Figure 8 One of the structural schematic diagrams of a seedling throwing system provided in yet another embodiment of the present application;

[0053] Fig. 9 A second structural schematic diagram of a seedling throwing system provided in yet another embodiment of the present application;

[0054] Fig.10 A third structural diagram of a seedling throwing system provided in yet another embodiment of the present application;

[0055] Fig.11 A control logic diagram of a seedling throwing system provided in yet another embodiment of the present application.

[0056] Icons: 1000-seedling throwing system; 100-seedling throwing mechanism; 10-load module; 20-seedling delivery module; 21-seedling support plate; 211-opening; 212-slide rail; 22-seedling delivery tray; 22A-first seedling delivery tray; 22B-second seedling delivery tray; 23-driving device; 231-driving motor; 24-conveying device; 25-seedling pressing device; 251-rotating shaft; 252-pressing bar; 30-seedling removal module; 31-driving source; 32-transmission gear box; 33-cutter head; 331-mounting part; 332-cutter body; 333-slot; 40-support module; 43-first bracket; 46-second bracket; 47-third bracket; 200-drone; 300-blanket seedling; 310-seedling; 400-control module; 510-first magnet; 520-second magnet; 610-first sensor; 620-second sensor; 700-alarm; 800-rotor position sensor. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0059] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0060] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including a..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0061] Please refer to Figure 1 and Figure 2 The present embodiment provides a seedling throwing mechanism 100 and a seedling throwing system 1000. Specifically, the seedling throwing system 1000 includes a drone 200 and at least one set of seedling throwing mechanisms 100, and the seedling throwing mechanisms 100 are mounted on the drone 200. The seedling throwing mechanism 100 is used to separate the blanket seedlings 300, and the separated seedlings 310 are thrown out by centrifugal force and / or ejection force to realize the seedling throwing operation. At the same time, the flying seedling throwing operation is realized in conjunction with the flight of the drone 200.

[0062] There are many ways for the seedling throwing mechanism 100 to throw the seedlings 310. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the seedlings 310 can be thrown out by centrifugal force. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 300, the separated seedlings 310 can be ejected and thrown out by an ejection force (the seedling throwing mechanism 100 can be provided with an ejection member, and the ejection member can provide an ejection force). In one embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and ejection force to throw out the separated seedlings 310.

[0063] The seedling throwing mechanism 100 includes a load module 10, a seedling delivery module 20 and a seedling retrieval module 30. The load module 10 is used to be set on the drone 200. The seedling delivery module 20 is set on the load module 10, and the seedling delivery module 20 is used to transport the blanket seedlings 300. The seedling retrieval module 30 is set on the load module 10, and the seedling retrieval module 30 is used to separate the seedlings 310 from the blanket seedlings 300 on the seedling delivery module 20 and then throw them out through centrifugal force and / or ejection force. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation, and the blanket seedlings 300 are transported by the seedling delivery module 20, and the seedling retrieval module 30 separates the blanket seedlings 300 and then throws the seedlings 310, so as to realize the flying seedling throwing operation of the blanket seedlings 300.

[0064] It should be noted that there are many ways to separate, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling removal method is not limited.

[0065] In this embodiment, the drone 200 is a rotor drone 200, specifically a quad-rotor drone 200. Of course, it can also be a single-rotor drone 200, a dual-rotor drone 200, a six-rotor drone 200, an eight-rotor drone 200, etc. The drone 200 can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. For ease of description, the drawings show directions such as front, back, left, right, up, and down. These directions are all relative positional relationships that can be clearly known to those skilled in the art when the drone 200 is conventionally placed or flying.

[0066] Figure 1 What is shown is a split-type seedling throwing system 1000. Specifically, the load module 10 of the seedling throwing mechanism 100 can be detachably mounted on the lower part of the drone 200, that is, the drone 200 and the seedling throwing mechanism 100 adopt an upper and lower split design. The drone 200 serves as a mobile platform and is a split design with the seedling throwing mechanism 100. In other words, this type of seedling throwing mechanism 100 is an independent structure that does not rely on the fuselage frame of the drone 200. Based on this type, the corresponding device can be replaced according to actual operation requirements in a specific operation scene. For example, after the seedling throwing mechanism 100 is disassembled, a sowing device is installed to achieve the sowing of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0067] Please refer to Figure 2 and Figure 3 , each module of the seedling throwing mechanism 100 will be described in detail below.

[0068] Specifically, the seedling removal module 30 includes a driving source 31 and a cutter head 33. The driving source 31 is connected to the cutter head 33 to drive the cutter head 33 to separate the seedling blanket 300 on the seedling delivery module 20, and to eject the separated seedlings 310 by centrifugal force and / or ejection force. Generally, the driving source 31 is a motor, which drives the cutter head 33 along the Figure 3 The cutter head 33 rotates in the direction indicated by the arrow A, thereby separating the seedling blanket 300 during the contact process. The separated seedling 310 follows the cutter head 33 to rotate in the direction of the arrow A. When the cutter head 33 rotates to a specific position, the seedling 310 is ejected under the action of the centrifugal force and / or the ejection force. The cutter head 33 may be provided with an ejection member, which can complete energy storage and energy release through the cam member during the rotation of the cutter head 33. When the ejection member releases energy, the seedling 310 is ejected under the ejection force provided by the ejection member.

[0069] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the driving source 31, and the driving source 31 directly drives the cutter head 33 to rotate, or the cutter head 33 can be rotatably mounted on the load module 10, and the driving source 31 is mounted on the load module 10, and connected to the cutter head 33 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force. Of course, the driving source 31 can also be other than a motor, for example, a pneumatic motor, a gasoline engine, etc.

[0070] In order to facilitate the throwing of the rice seedlings 310, Figure 4 In this embodiment, the cutter head 33 includes a mounting portion 331 and a cutter body 332 disposed on the mounting portion 331. The mounting portion 331 is connected to the driving source 31. A notch 333 is formed on the cutter body 332. The notch 333 is used to hold the rice seedling 310 after the cutter body 332 separates the rice seedling 310, so that the rice seedling 310 rotates with it and is thrown out under the action of centrifugal force and / or ejection force. It can be understood that during the specific operation, the notch 333 on the cutter body 332 will hold the soil part at the root of the rice seedling 310, and then drive it to rotate during the rotation process, so as to throw it out. Of course, the specific structure of the cutter head 33 can also be a rice seedling needle.

[0071] Combination Figure 2 and Figure 3 In this embodiment, the seedling removal module 30 further includes a transmission box 32, a driving source 31 is connected to the transmission box 32, and is used to drive the transmission box 32 to rotate, and at least one cutter head 33 is arranged on each transmission box 32. The transmission box 32 can give the cutter head 33 a specific motion trajectory. Generally, a plurality of mutually meshing gears can be arranged inside the transmission box 32, the driving source 31 meshes with a gear in the transmission box 32, and the cutter head 33 meshes with another gear. The transmission box 32 can make the motion trajectory of the cutter head 33 and the posture of the cutter head 33 during the motion process meet the requirements.

[0072] In order to improve the efficiency of removing seedlings, the rotation speed of the cutter head 33 is usually increased. Of course, too fast a speed may cause other problems such as heat dissipation and unstable separation. In order to solve this problem, in this embodiment, at least two cutter heads 33 are arranged on each transmission box 32, thereby expanding the number of cutter heads 33 at the same separation and throwing position.

[0073] In this embodiment, two cutter heads 33 are distributed on one transmission box 32. Of course, in other embodiments, only one cutter head 33 may be distributed, or three, four or more cutter heads 33 may be distributed. When two cutter heads 33 are distributed on one transmission box 32, the angles of the two cutter heads 33 to the center of the transmission box 32 may be distributed at 180 degrees, three cutter heads 33 may be spaced 120 degrees apart, and four cutter heads 33 may be spaced 90 degrees apart. In other words, the cutter heads 33 may be arranged in a uniform distribution. Of course, it is not excluded that the cutter heads 33 may be arranged in an uneven distribution in a certain scenario.

[0074] By designing a larger number of cutter heads 33 on the transmission box 32, the efficiency of removing seedlings can be improved at the same rotation speed. In addition, in terms of installation, the transmission box 32 can be directly installed on the output shaft of the driving source 31, or the transmission box 32 can be rotatably installed on the load module 10, the driving source 31 is installed on the load module 10, and is connected to the transmission box 32 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force.

[0075] On the other hand, the efficiency of the seedling throwing operation can also be improved by increasing the number of seedling delivery modules 20. Figure 3 In this embodiment, there are multiple seedling delivery modules 20 , and there are multiple seedling taking modules 30 , which correspond one to one with the multiple seedling delivery modules 20 .

[0076] Specifically, Figure 3 In the figure, the number of seedling delivery modules 20 is three, and correspondingly, the number of seedling retrieval modules 30 is also three. Of course, when the number of seedling delivery modules 20 is greater than three, the number of seedling retrieval modules 30 can also be increased accordingly. Generally, the seedlings 310 transported by multiple seedling delivery modules 20 are the same kind of seedlings 310, and the seedling throwing operation is carried out in the same farmland. Therefore, the multiple seedling retrieval modules 30 can be controlled to work synchronously by a control device arranged on the load module 10, or by the flight control of the drone 200. Of course, it is not ruled out that multiple seedling delivery modules 20 work independently, for example, the seedling retrieval efficiencies of the multiple seedling retrieval modules 30 are controlled to be unequal, or some of the seedling retrieval modules 30 are controlled to work while the remaining seedling retrieval modules 30 do not work.

[0077] In order to achieve the separation and throwing of the blanket seedlings 300 row by row and bunch by bunch, in this embodiment, the seedling delivery module 20 includes a seedling supporting plate 21 and a seedling delivery tray 22. The seedling supporting plate 21 is arranged on the load module 10. The seedling supporting plate 21 is provided with an opening 211. The seedling delivery tray 22 is used to transport the blanket seedlings 300. The lower part of the seedling delivery tray 22 is located in the seedling supporting plate 21. The seedling delivery tray 22 can move laterally relative to the seedling supporting plate 21. Among them, the seedling taking module 30 is used to separate the blanket seedlings 300 through the opening 211 and throw out the separated seedlings 310.

[0078] In other words, the positions of the seedling taking module 30, the opening 211 of the seedling supporting plate 21, etc. remain unchanged relative to the load module 10, and the seedling delivery tray 22 can reciprocate in the left and right directions. In this way, the seedling taking module 30 only separates the blanket seedlings 300 exposed in the opening 211, so that the blanket seedlings 300 can be separated and thrown row by row and bunch by bunch. Of course, in other embodiments, the position of the seedling delivery tray 22 relative to the load module 10 can also remain unchanged, while the seedling supporting plate 21 and the seedling taking module 30 can move horizontally in the left and right directions.

[0079] In this embodiment, the seedling support plate 21 can be understood as a long strip-shaped opening 211 plate. The seedling support plate 21 is relatively fixed to the load module 10 and does not move with the left and right reciprocating motion of the seedling delivery tray 22. The seedling support plate 21 has a certain supporting effect on the seedling delivery tray 22. Figure 4 In this embodiment, the number of the seedling taking modules 30 is three and they are distributed at intervals. Therefore, the number of the openings 211 is also three and they are distributed at corresponding intervals, so that each seedling taking module 30 can separate and throw the blanket seedlings 300 in the corresponding opening 211.

[0080] In order to facilitate the lateral movement of the seedling delivery tray 22 , in this embodiment, the seedling delivery module 20 further includes a driving device 23 , which is disposed on the load module 10 and is used to drive the seedling delivery tray 22 to move laterally relative to the seedling supporting plate 21 .

[0081] Generally, the driving device 23 can use a motor with a gear rack mechanism to achieve the left and right reciprocating movement of the seedling tray 22, or a motor with a screw mechanism or a synchronous belt. Of course, it is not excluded to use the rotor power of the drone 200 to drive the seedling tray 22 to move left and right.

[0082] Combination Figure 3 Generally, the seedling delivery tray 22 is set to be placed in an inclined state. This design allows the seedling blanket 300 to move downward under the action of gravity after the seedling delivery tray 22 moves horizontally once, so that the seedling removal module 30 can carry out the next round of seedling removal. Of course, a power source can also be set to drive it, for example, in combination with Figure 3In this embodiment, the seedling delivery module 20 further includes a conveying device 24 , which is disposed on the seedling delivery tray 22 , and is used to drive the seedling blanket 300 to move toward the seedling supporting plate 21 .

[0083] The conveying device 24 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel). In addition, the conveying device 24 can be set at different positions in the height direction of the seedling delivery tray 22. It should be noted that the inclined setting of the seedling delivery tray 22 can also achieve effective utilization of the longitudinal space to reduce the space occupied by the seedling delivery tray 22 in the horizontal width. At the same time, due to the inclined setting, the blanket seedlings 300 can use their gravity to slide down, and the power consumption of the conveying device 24 can also be reduced.

[0084] In addition, considering the possible separation of the blanket seedling 300 after being placed on the seedling delivery tray 22, combined with Figure 2 and Figure 3 In this embodiment, the seedling delivery module 20 further includes a seedling pressing device 25, which is disposed on the seedling delivery tray 22, and is used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or a rod, etc. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and a plurality of pressure strips 252, the rotating shaft 251 is rotatably disposed horizontally on the seedling delivery tray 22, and the plurality of pressure strips 252 are vertically and spaced apart from the rotating shaft 251, and the plurality of pressure strips 252 are used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22.

[0085] In this embodiment, in a specific scenario, the rotating shaft 251 can rotate relative to the seedling delivery tray 22 with a certain damping, so the force of the pressure bar 252 on the blanket seedling 300 can be adjusted, and the pressure state can be maintained. Of course, a torsion spring can also be installed on the rotating shaft 251 to provide pressure to rotate in the direction of the blanket seedling 300.

[0086] Combination Figure 3 In this embodiment, the seedling delivery tray 22 is a rectangular frame structure, specifically, it includes a load-bearing plate and two baffles arranged on the left and right edges of the load-bearing plate, and no baffles are arranged above or below it, so that an upper opening 211 is formed at the top to facilitate placing the seedlings, and a lower opening 211 is formed at the bottom to facilitate taking the seedlings. The width of the seedling delivery tray 22 can match the width of a tray of seedling blankets 300. In addition, the height of the seedling delivery tray 22 is not limited to the height of a tray of seedling blankets 300. During installation, the two ends of the rotating shaft 251 can be rotatably arranged on the two baffles of the seedling delivery tray 22, respectively. Figure 4In the embodiment, four pressure strips 252 are correspondingly arranged on a rotating shaft 251. In other words, four pressure strips 252 are distributed on a seedling delivery tray 22 to limit the blanket seedlings 300 in the seedling delivery tray 22, so that the blanket seedlings 300 can be pressed on the seedling delivery tray 22 by the pressure strips 252, which greatly ensures that the blanket seedlings 300 will not be blown away during the flight of the drone 200. Of course, the number of pressure strips 252 corresponding to a seedling delivery tray 22 may not be limited to four, for example, it may also be three, five or more. In addition, since in the present embodiment, the number of seedling delivery modules 20 is multiple, the number of seedling pressing devices 25 may also be multiple, and each seedling delivery tray 22 is correspondingly provided with a seedling pressing device 25. In a certain scenario, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 may share a rotating shaft 251.

[0087] In addition, combined Figure 3 In this embodiment, the seedling delivery tray 22 is supported at multiple positions in the height direction by the load module 10. For example, in this embodiment, the seedling throwing mechanism 100 further includes a support module 40, for example, the support module 40 includes a first bracket 43, one end of the first bracket 43 is connected to the load module 10, and the other end of the first bracket 43 supports the upper part of the seedling delivery tray 22. Figure 3 and Figure 4 Since the seedling delivery tray 22 needs to move horizontally, in order to facilitate support, the support position of the first bracket 43 and the seedling delivery tray 22 can be supported horizontally by the cooperation of the slide rail 212 and the pulley. For example, the end of the first bracket 43 is provided with a pulley, and the seedling delivery tray 22 is provided with a slide rail 212, and the two are rollingly matched. Alternatively, the end of the first bracket 43 is provided with a slide rail 212, and the seedling delivery tray 22 is provided with a pulley. In addition, in some scenarios, the height of the first bracket 43 is adjustable, and the inclination angle of the seedling delivery tray 22 can also be adjusted.

[0088] At the same time, the lower part of the seedling delivery tray 22 is supported by the seedling support plate 21 to improve the overall compactness of the structure. Of course, the middle part of the seedling delivery tray 22 can also be supported by the load module 10. It should be noted here that the upper part is only to indicate that the position of the support is higher than the middle and lower parts in the height direction.

[0089] Of course, the support module 40 may also include a second bracket 46 and a third bracket 47. One end of the second bracket 46 is connected to the load module 10, and the other end of the second bracket 46 is installed with the above-mentioned seedling support plate 21. One end of the third bracket 47 is connected to the load module 10, and the other end of the third bracket 47 is installed with the above-mentioned seedling removal module 30 (specifically, the driving source 31). Of course, the second bracket 46 and the third bracket 47 may also be a bracket structure, that is, the seedling support plate 21 and the seedling removal module 30 are installed on the load module 10 through the same bracket.

[0090] Figure 1-Figure 3 The illustrated embodiment demonstrates the main structure of the seedling throwing mechanism 100 provided by the present invention. In addition, the multiple modules mentioned in this application (load module 10, seedling delivery module 20, seedling retrieval module 30, etc.) can be manufactured and sold separately in the early stage, and then assembled to form an integral structure in the later stage.

[0091] Figure 4 and Figure 5 Another embodiment of the seedling throwing system 1000 is shown, wherein the description of the same modules, mechanisms or components can refer to the above text. In this embodiment, the seedling throwing system 1000 is a double system, that is, it has two sets of seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 share a load module 10. The two sets of seedling throwing mechanisms 100 are arranged back to back. Of course, in other embodiments, the two sets of seedling throwing mechanisms 100 can also be arranged in other ways (for example, arranged in the same direction), or three, four or more sets of seedling throwing mechanisms 100 can be arranged.

[0092] According to a seedling throwing system 1000 provided in this embodiment, the working principle of the seedling throwing system 1000 is as follows:

[0093] When the drone 200 is flying, the driving source 31 drives the transmission box 32 to rotate, and the transmission box 32 drives the cutter head 33 to achieve high-speed rotation. When the cutter head 33 rotates to the opening 211, it separates and removes the rice seedlings 310, drives the rice seedlings 310 to rotate, and when the rice seedlings 310 rotate to a certain angle, the rice seedlings 310 are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thereby realizing the flying and throwing of the blanket seedlings 300. At the same time, the rice seedling delivery tray 22 moves horizontally, driving the blanket seedlings 300 to move left and right, so that the blanket seedlings 300 are separated and thrown row by row. After a row of rice seedlings 310 in the left and right directions of the blanket seedlings 300 is separated, the entire blanket seedlings 300 moves downward under the action of gravity and the driving force of the conveying device 24, so that in the process of the rice seedling delivery tray 22 moving horizontally again, it is separated and thrown row by ...

[0094] When the above-mentioned seedling throwing system 1000 is used for aerial seedling throwing, the seedling picking module 30 rotates at high speed, and the seedling delivery tray 22 also needs to move back and forth quickly. At this time, the left and right movement of the seedling delivery tray 22 can easily cause the fuselage of the drone 200 to tilt left and right, thereby causing the seedling throwing system 1000 to have unstable flight problems, and even safety accidents may occur in serious cases. Therefore, a technology that can achieve safe seedling throwing when throwing seedlings in the air is urgently needed.

[0095] In view of this, the present embodiment provides a seedling throwing control method and a seedling throwing system 1000. The seedling throwing control method and the seedling throwing system 1000 are used to achieve safe seedling throwing when the seedling throwing system 1000 performs aerial seedling throwing. The seedling throwing control method and the seedling throwing system 1000 will be introduced and explained in detail below.

[0096] In the first aspect, an embodiment of the present invention provides a method for controlling seedling throwing. The method for controlling seedling throwing is applied to a drone 200 equipped with a seedling throwing system 1000. Figure 3 and Figure 4 As shown, the seedling throwing system 1000 includes: a load module 10 for connecting to the drone 200, two seedling delivery trays 22 arranged on opposite sides of the load module 10, and two seedling taking modules 30 working in cooperation with the two seedling delivery trays 22; the seedling throwing control method includes:

[0097] S300, when the drone performs a seedling throwing operation, the seedling delivery tray is controlled to move back and forth, and the seedling taking module is controlled to separate the seedlings from the blanket seedlings carried on the seedling delivery tray and then throw them out;

[0098] The two seedling delivery trays move in opposite directions when performing reciprocating lateral movement to ensure the posture balance of the UAV 200.

[0099] It should be noted that the above-mentioned seedling throwing control method provided in the present application is applied to the drone 200 mounted with the seedling throwing system 1000, wherein the seedling throwing system 1000 includes a load module 10, a seedling delivery tray 22 and a seedling removal module 30. The seedling delivery tray 22 includes two seedling delivery trays 22. Figure 3 and Figure 4 As shown, they are arranged on opposite sides of the load module 10. The above-mentioned seedling taking module 30 also includes two, and the two seedling taking modules 30 correspond to the two seedling delivery trays 22 one by one. Each seedling taking module 30 is used to separate the seedlings 310 from the blanket seedlings 300 on the corresponding seedling delivery tray 22 and then throw them out.

[0100] The specific structures of the above-mentioned load module 10, seedling delivery tray 22 and seedling removal module 30 are not limited in this application. They can adopt the specific structure shown in the seedling throwing system 1000 described above, or other feasible structures can be adopted.

[0101] In this embodiment, please refer to Figure 4 and Figure 5 The two seedling sending trays 22 are arranged back to back, that is, one of the seedling sending trays 22 is turned 180 degrees relative to the other seedling sending tray 22 and is arranged on the opposite side of the seedling sending tray 22.

[0102] When the drone 200 is performing the seedling throwing operation in the air, in order to realize the row-by-row and bunch-by-pinch picking of the seedlings 310 carried on the seedling delivery tray 22, in this embodiment, when the drone 200 is performing the seedling throwing operation, it is necessary to control the two seedling delivery trays 22 to move back and forth. Controlling the seedling delivery trays 22 to move back and forth means controlling the seedling delivery trays 22 to move from their first end to their second end, and then to move back and forth from their second end to their first end.

[0103] In addition, it should be noted that, in the process of controlling the seedling delivery tray 22 to move back and forth, the seedling throwing control method provided in the present application also needs to control the seedling picking module 30 to separate the seedlings 310 from the seedling blanket 300 carried on the seedling delivery tray 22 and then throw them out. In this way, in the process of controlling the seedling delivery tray 22 to move horizontally, the seedling picking and throwing of the seedlings 310 on the seedling delivery tray 22 can be achieved at the same time, thereby achieving the seedling throwing of the seedlings 310 row by row and bunch by bunch.

[0104] In the above step S300, the present application does not limit the throwing method of the seedlings 310, and the seedlings 310 can be thrown out under the action of centrifugal force and / or catapulting force, as long as the seedlings 310 can be thrown out normally.

[0105] In the above step S300, it should also be noted that in order to ensure the posture balance of the drone 200 during flight, the seedling throwing control method provided in the present application needs to control the reciprocating and lateral movement directions of the two seedling sending trays 22 in opposite directions during the process of controlling the two seedling sending trays 22 to move back and forth.

[0106] For example, Figure 6 As shown, assuming that the two seedling trays 22 include a first seedling tray 22A and a second seedling tray 22B, then, Figure 6 As shown in (a), when the first seedling delivery tray 22A is controlled to move horizontally to the right, the second seedling delivery tray 22B needs to be controlled to move horizontally to the left; Figure 6 As shown in (b), when the first seedling delivery tray 22A is controlled to move horizontally to the left, the second seedling delivery tray 22B needs to be controlled to move horizontally to the right. In other words, during the reciprocating horizontal movement of the two seedling delivery trays 22, the horizontal movement directions of the two seedling delivery trays 22 are opposite. In this way, it can be ensured that the tilting forces on both sides of the two seedling delivery trays 22 can always offset each other during the reciprocating horizontal movement, thereby keeping the drone 200 in a balanced posture during flight, avoiding the fuselage from tilting, and thus improving the safety of aerial seedling throwing. It should be noted that Figure 6 It is only used to show the movement direction of the two seedling delivery trays and does not necessarily correspond to the actual structure or actual position of the seedling delivery trays.

[0107] To summarize, the seedling throwing control method provided in the present application is applied to a drone equipped with a seedling throwing system, and the seedling throwing system includes: a load module for connecting to the drone, two seedling delivery trays arranged on opposite sides of the load module, and two seedling retrieval modules cooperating with the two seedling delivery trays; the seedling throwing control method includes: when the drone performs the seedling throwing operation, controlling the seedling delivery tray to move back and forth horizontally, and controlling the seedling retrieval module to separate the seedlings from the blanket seedlings carried on the seedling delivery tray and then throw them out; wherein the two seedling delivery trays move in opposite directions when moving back and forth horizontally to ensure the posture balance of the drone. The present application arranges two seedling delivery trays on opposite sides of the load module, and when the UAV performs aerial seedling throwing operations, the two seedling delivery trays are controlled to keep the lateral movement directions of the two seedling delivery trays in opposite directions at all times during the reciprocating lateral movement. In this way, when the two seedling delivery trays are reciprocatingly moved laterally and cooperate with the seedling retrieval module to throw the seedlings, the tilting forces of the two seedling delivery trays can offset each other, thereby offsetting the impact force of the two seedling delivery trays on the UAV during the lateral movement process. In this way, when the UAV performs aerial seedling throwing operations, the UAV fuselage can be prevented from tilting, thereby ensuring the posture balance of the UAV, and further improving the safety and stability of flight during aerial seedling throwing.

[0108] In an alternative embodiment, please refer to Figure 6 As shown, the two seedling delivery trays 22 include a first seedling delivery tray 22A and a second seedling delivery tray 22B. The seedling delivery trays 22 are controlled to move back and forth, which can be specifically achieved in the following manner:

[0109] When the first seedling sending tray 22A is controlled to move laterally along the first direction, the second seedling sending tray 22B is controlled to move laterally along the second direction; when the first seedling sending tray 22A is controlled to move laterally along the second direction, the second seedling sending tray 22B is controlled to move laterally along the first direction; wherein the first direction is opposite to the second direction.

[0110] That is to say, when the first seedling sending plate 22A is controlled to move laterally along a first direction, the second seedling sending plate 22B moves laterally along a second direction opposite to the first direction; correspondingly, when the first seedling sending plate 22A is controlled to move laterally along the second direction, the second seedling sending plate 22B moves laterally along the first direction opposite to the second direction.

[0111] In addition, in an optional embodiment, the above-mentioned seedling throwing control method further includes: controlling the first seedling sending tray 22A and the second seedling sending tray 22B to keep synchronization when they move back and forth.

[0112] In short, when the two seedling sending trays 22 are controlled to move back and forth, the two seedling sending trays 22 keep moving synchronously. For example, if the first seedling sending tray 22A is controlled to move 10 cm to the left, the second seedling sending tray 22B is controlled to move 10 cm to the right.

[0113] The above-mentioned control of the first seedling sending tray 22A and the second seedling sending tray 22B to keep synchronization during the reciprocating transverse movement may include: controlling the first seedling sending tray 22A and the second seedling sending tray 22B to keep synchronization in one or more aspects of starting, accelerating and decelerating during the reciprocating transverse movement.

[0114] That is, controlling the first seedling sending tray 22A and the second seedling sending tray 22B to keep synchronization during the reciprocating transverse movement may be: controlling the first seedling sending tray 22A and the second seedling sending tray 22B to keep starting synchronously during the reciprocating transverse movement, controlling the first seedling sending tray 22A and the second seedling sending tray 22B to keep accelerating synchronously during the reciprocating transverse movement, and controlling the first seedling sending tray 22A and the second seedling sending tray 22B to keep decelerating synchronously during the reciprocating transverse movement.

[0115] It should be noted that the present application does not limit the number of specific items for maintaining synchronization as mentioned above, that is to say, it can be: when controlling the first seedling sending tray 22A and the second seedling sending tray 22B to move back and forth, only synchronized start-up, only synchronized acceleration, or only synchronized deceleration (while synchronized deceleration and synchronized acceleration are not required); or, when controlling the first seedling sending tray 22A and the second seedling sending tray 22B to move back and forth, synchronized start-up and synchronized acceleration are maintained (synchronous deceleration is not required); or, when controlling the first seedling sending tray 22A and the second seedling sending tray 22B to move back and forth, synchronized start-up and synchronized deceleration are maintained (synchronous acceleration is not required); or, when controlling the first seedling sending tray 22A and the second seedling sending tray 22B to move back and forth, synchronized acceleration and synchronized deceleration are maintained (synchronous start-up is not required); of course, it can also be that when controlling the first seedling sending tray 22A and the second seedling sending tray 22B to move back and forth, synchronized start-up, synchronized acceleration and synchronized deceleration are maintained.

[0116] It should be understood that when controlling the first seedling delivery tray 22A and the second seedling delivery tray 22B to move back and forth, and simultaneously meeting the requirements of synchronous start, synchronous acceleration and synchronous deceleration, the UAV 200 can achieve the best effect of maintaining posture balance at all times; when only some of the items are met, it can also help the UAV 200 to achieve posture balance, but the effect is not as good as the synchronous start, acceleration and deceleration.

[0117] In one feasible method of the present application, the first seedling delivering tray 22A can be used as the main seedling delivering tray 22, and the second seedling delivering tray 22B can be used as the slave seedling delivering tray 22; at this time, the first seedling delivering tray 22A and the second seedling delivering tray 22B are controlled to keep synchronization during the reciprocating lateral movement, which can be achieved in the following manner: the lateral movement of the slave seedling delivering tray 22 is synchronously controlled according to the real-time position feedback from the main seedling delivering tray 22.

[0118] That is to say, in the seedling throwing control method provided by the present application, the synchronous reciprocating lateral movement control of the two seedling delivery trays 22 can be realized by using one of the seedling delivery trays 22 as the main seedling delivery tray 22 and the other seedling delivery tray 22 as the slave seedling delivery tray 22. Specifically, the slave seedling delivery tray 22 can act according to the real-time position fed back by the main seedling delivery tray 22. In short, the main seedling delivery tray 22 sends its current position to the slave seedling delivery tray 22, and the slave seedling delivery tray 22 controls its own lateral movement according to the real-time position sent by the main seedling delivery tray 22, so that the slave seedling delivery tray 22 keeps position synchronization with the main seedling delivery tray 22.

[0119] For ease of understanding, the current position of the main seedling delivery tray 22 is taken as the first position on the left side. When the current real-time position of the main seedling delivery tray 22 is the first position on the left side, the main seedling delivery tray 22 sends the position information of the first position on the left side to the slave seedling delivery tray 22, and the slave seedling delivery tray 22 controls its movement to the first position on the right side opposite to the first position according to the position information of the first position on the left side.

[0120] Taking into account the problem of time delay when the main seedling delivery tray 22 sends the information to the slave seedling delivery tray 22, in order to further improve the consistency between the main seedling delivery tray 22 and the slave seedling delivery tray 22, in an optional embodiment, the lateral movement of the slave seedling delivery tray 22 is synchronously controlled according to the real-time position fed back by the main seedling delivery tray 22. Specifically, it can be achieved in the following way: the lateral movement of the slave seedling delivery tray 22 is synchronously controlled according to the real-time position and compensation position information fed back by the main seedling delivery tray 22, so that the real-time positions of the main seedling delivery tray 22 and the slave seedling delivery tray 22 are symmetrically distributed relative to the load module 10; the compensation position information is used to characterize the position error caused by the delay.

[0121] That is, the slave seedling sending tray 22 controls its own lateral movement according to the real-time position and compensated position information sent by the master seedling sending tray 22 , so that the slave seedling sending tray 22 maintains position synchronization with the master seedling sending tray 22 .

[0122] The above-mentioned compensation position information is used to characterize the position error caused by the delay. For example, the above-mentioned compensation position information can be obtained by multiplying the rotation speed of the traverse motor of the seedling delivery tray 22 by the control period.

[0123] The real-time position fed back by the main seedling delivery tray 22 can be converted based on the rotor position sensor 800 provided on the transverse motor of the main seedling delivery tray 22 .

[0124] In this embodiment, optionally, controlling the first seedling conveying tray 22A to move laterally along the first direction can be achieved in the following manner:

[0125] When the driving device 23 of the main seedling delivering tray 22 is in the position control mode, the preset linear speed of the main seedling delivering tray 22 is converted into a given position of the main seedling delivering tray 22, and the main seedling delivering tray 22 is controlled to move laterally in a first direction according to the given position, and the main seedling delivering tray 22 is controlled to move in the opposite direction after the main seedling delivering tray 22 moves to the end point of the transverse movement trajectory.

[0126] That is, the driving device 23 of the main seedling delivery tray 22 is made to work in the position control mode, so that the user can set the preset linear speed of the main seedling delivery tray 22 on the user terminal such as mobile phone and tablet. At this time, the preset linear speed can be converted into a given position of the main seedling delivery tray 22, so that the main seedling delivery tray 22 can move laterally along the first direction according to the given position, and after the main seedling delivery tray 22 moves laterally along the first direction to the end point of the lateral movement trajectory of the main seedling delivery tray 22, the main seedling delivery tray 22 can be controlled to move laterally in the opposite direction.

[0127] It should be noted that the main seedling delivery tray 22 working in the position control mode of its driving device 23 is only an example given in the present application, and is not a limitation of the present application. In other embodiments, the main seedling delivery tray 22 can also work in the speed mode or torque mode of its driving device 23. When the main seedling delivery tray 22 works in the speed control mode or torque control mode of its driving device 23, its working principle is the same as that of working in the position control mode, and the present application will not repeat it here.

[0128] In this embodiment, optionally, controlling the second seedling delivery tray 22B to move laterally along the second direction can be achieved in the following manner:

[0129] When the driving device 23 of the slave seedling sending tray 22 is in the position control mode, the given position of the slave seedling sending tray 22 is obtained according to the real-time position fed back by the main seedling sending tray 22, and the slave seedling sending tray 22 is controlled to move laterally in the second direction according to the given position, and after the slave seedling sending tray 22 moves to the end point of the lateral movement trajectory, the slave seedling sending tray 22 is controlled to move in the reverse direction.

[0130] That is, the driving device 23 of the slave seedling delivery tray 22 can also work in the position control mode, so that the slave seedling delivery tray 22 can obtain the given position of the slave seedling delivery tray 22 according to the real-time position fed back by the main seedling delivery tray 22. At this time, the slave seedling delivery tray 22 can be moved horizontally along the second direction to the end point of the horizontal movement track of the slave seedling delivery tray 22 according to its given position, and then the slave seedling delivery tray 22 can be controlled to move horizontally in the opposite direction. The second direction is opposite to the first direction of the main seedling delivery tray 22.

[0131] It should be noted that the slave seedling tray 22 can also work in the speed control mode or torque control mode of its lateral movement motor. When the main seedling tray 22 works in the position control mode, it is best that the slave seedling tray 22 also works in the position control mode; accordingly, when the main seedling tray 22 works in the speed control mode, it is best that the slave seedling tray 22 also works in the speed control mode; when the main seedling tray 22 works in the torque control mode, it is best that the slave seedling tray 22 also works in the torque control mode. That is, the control modes of the main seedling tray 22 and the slave seedling tray 22 are preferably the same, so that it is convenient for the slave seedling tray 22 to receive the real-time position of the main seedling tray 22 and control the lateral movement of the slave seedling tray 22 according to the real-time position, which can relieve the calculation pressure of the control module 400. Of course, the control modes of the main seedling tray 22 and the slave seedling tray 22 can also be different.

[0132] When both the main seedling delivery tray 22 and the slave seedling delivery tray 22 are working in the position control mode, in order to further improve the consistency of the reverse lateral movement of the main seedling delivery tray 22 and the slave seedling delivery tray 22. Optionally, the given position of the slave seedling delivery tray 22 is obtained according to the real-time position feedback of the main seedling delivery tray 22, which can be achieved in the following way:

[0133] The given position of the slave seedling delivery tray 22 is obtained based on the real-time position and the compensated position information fed back by the main seedling delivery tray 22. The compensated position information is used to characterize the position error caused by the delay.

[0134] Among them, the compensation position information is the same as the previous one. The relevant parts can refer to the previous description, and this application will not repeat it here.

[0135] Please refer to Figure 7 As shown, optionally, before controlling the seedling delivery tray 22 to reciprocate and move horizontally, the seedling throwing control method provided by the present application further includes the following steps:

[0136] S100, controlling the two seedling delivery trays to move horizontally to opposite ends of the load module respectively;

[0137] S200, determining whether the two seedling delivery trays have reached the opposite ends of the load module, if so, confirming that the initialization is successful; otherwise, confirming that the initialization fails.

[0138] That is, before controlling the two seedling delivery trays 22 to move back and forth, the seedling throwing control method provided by the present application also includes an initialization step. The initialization refers to controlling the two seedling delivery trays 22 to move laterally to the opposite ends of the load module 10, respectively, to detect whether the sensors at the opposite ends of the load module 10 can work normally. If the sensors at both ends can normally sense that the seedling delivery trays have arrived at both ends, the initialization is successful; if not, the initialization fails. The normal operation of the sensors at both ends is a guarantee that the two seedling delivery trays 22 can move back and forth. In this way, when performing the seedling throwing operation, it is possible to take the seedlings from one end of the blanket seedling 300, so that the seedlings 310 are taken row by row and bunch by bunch, which can avoid the waste of the seedlings 310.

[0139] Among them, the present application does not limit the specific method of implementing the above-mentioned step S100. It can be manually controlling the two seedling delivery trays 22 to move horizontally to the opposite ends of the load module 10 respectively, or the control module 400 of the seedling throwing system 1000 controls the two seedling delivery trays 22 to move horizontally to the opposite ends of the load module 10.

[0140] The application can use the position signal recognition of the sensor to determine whether the two seedling delivery trays 22 have reached the opposite ends of the load module 10. When the sensor is used for determination, the determination method will be described in detail below when the seedling throwing system 1000 is described, and will not be explained here.

[0141] In this embodiment, when the above step S200 determines that the initialization is successful, step S300 is executed. After confirming that the initialization fails, the seedling throwing control method provided by the present application further includes the following steps:

[0142] S400, controlling the alarm to sound an alarm.

[0143] It should be noted that when initialization fails, at least one of the two seedling delivery trays 22 does not move the end of its transverse trajectory. At this time, there may be a problem with the control parameter setting of at least one of the two seedling delivery trays 22, or there may be a problem with the hardware structure of the seedling throwing system 1000, so an alarm needs to be issued to remind the user to check. Among them, the application does not limit the way in which the alarm 700 issues an alarm, which can be an alarm using sound and light signals or a voice broadcast.

[0144] On the other hand, an embodiment of the present invention further provides a seedling throwing system 1000, which can be used in the above-mentioned seedling throwing control method, that is, the above-mentioned seedling throwing control method can be implemented by using the hardware structure of the seedling throwing control system. The specific structure of the seedling throwing system 1000 will be explained below.

[0145] Please refer to Figure 8The seedling throwing system 1000 includes: a load module 10, two seedling delivery trays 22, two seedling retrieval modules 30 and a control module 400; wherein the load module 10 is used to connect with the drone 200; the two seedling delivery trays 22 are arranged on opposite sides of the load module 10 and are respectively used to carry the blanket seedlings 300; the two seedling retrieval modules 30 are respectively arranged on the load module 10, and the two seedling retrieval modules 30 correspond to the two seedling delivery trays 22 one by one; the control module 400 is used to control the seedling delivery tray 22 to move back and forth when the drone 200 performs the seedling throwing operation, and control the seedling retrieval module 30 to separate the seedlings 310 from the blanket seedlings 300 carried on the seedling delivery tray 22 and then throw them out; wherein the two seedling delivery trays 22 move in opposite directions when moving back and forth to ensure the posture balance of the drone 200.

[0146] It should be noted that the specific structures of the above-mentioned load module 10, seedling delivery tray 22 and seedling removal module 30 can be found in the above description, and the present application will not describe their structural details in detail.

[0147] The control module 400 is used to control the seedling delivery tray 22 to move back and forth when the drone 200 is performing the seedling throwing operation, and to control the seedling retrieval module 30 to separate the seedlings 310 from the blanket seedlings 300 carried on the seedling delivery tray 22 and throw them out. In this embodiment, the control module 400 can be electrically connected to the drive motors 231 of the two seedling delivery trays 22, and to the drive source 31 of the seedling retrieval module 30, so as to control the actions of the two seedling delivery trays 22 and the drive module. It should be noted that the control module 400 can be the flight control on the drone 200, or it can be the processor of the seedling throwing system 1000 itself, and this application does not make any specific restrictions.

[0148] It should be noted that when the control module 400 controls the two seedling delivery trays 22 to move back and forth, the two seedling delivery trays 22 should keep moving in opposite directions during the reciprocating movement. In this way, the posture balance of the drone 200 can be ensured during the reciprocating movement of the two seedling delivery trays 22, thereby improving the working safety of the seedling throwing system 1000.

[0149] In addition, in an optional embodiment, the control module 400 can also be used to execute the above-mentioned seedling throwing control method.

[0150] In an optional embodiment, the seedling throwing system 1000 further includes: a driving device 23; the driving device 23 is electrically connected to the control module 400; the driving device 23 is disposed on the load module 10, and the driving device 23 is used to drive the two seedling delivery trays 22 to reciprocate and move horizontally.

[0151] It should be noted that, in the present application, the two seedling delivery trays 22 can respectively move back and forth horizontally through the arrangement of the above-mentioned driving device 23. The driving device 23 may include one driving motor 231 or two driving motors 231.

[0152] For example, when the driving device 23 includes a driving motor 231, the driving motor 231 is respectively connected to the two seedling delivery trays 22 for driving the two seedling delivery trays 22 to move back and forth simultaneously. That is to say, when the driving device 23 includes only one driving motor 231, the driving motor 231 is used to drive the two seedling delivery trays 22 to move back and forth simultaneously. For example, the driving motor 231 can be arranged between the two seedling delivery trays 22, each seedling delivery tray 22 is provided with a rack, the output end of the driving motor 231 is provided with a gear, and the two racks are respectively meshed with the gears at the output end of the driving motor 231.

[0153] Also, when the driving device 23 includes only one driving motor 231, please refer to Fig. 9 and Fig.11 The seedling throwing system 1000 may further include: a first magnet 510, a second magnet 520, a first sensor 610 and a second sensor 620; wherein the first magnet 510 and the second magnet 520 are respectively arranged at the opposite ends of any one of the seedling delivery trays 22; the first sensor 610 and the second sensor 620 are respectively arranged on the load module 10, and the first sensor 610 and the second sensor 620 correspond to the first magnet 510 and the second magnet 520 one by one, respectively.

[0154] It should be noted that the present application does not impose any specific restrictions on the seedling delivery tray 22 on which the first magnet 510 and the second magnet 520 are set, as long as the first magnet 510 and the second magnet 520 are set on the same seedling delivery tray 22 and the first magnet 510 and the second magnet 520 are located at opposite ends of the seedling delivery tray 22.

[0155] The first sensor 610 is arranged on the load module 10, and corresponds to the first magnet 510. When the driving motor 231 drives the seedling delivery tray 22 provided with the first magnet 510 to move to one end point of its transverse trajectory, at this time, the other seedling delivery tray 22 synchronously moves to the other end point of its transverse trajectory. At this time, the first sensor 610 close to the first magnet 510 receives the magnetic field signal of the first magnet 510, and the first sensor 610 receives a valid signal. The second sensor 620 does not receive the magnetic field signal of the second magnet 520, and the second sensor 620 does not receive a valid signal; similarly, when the driving motor 231 drives the seedling delivery tray 22 provided with the second magnet 520 to move to one end point of its transverse trajectory, at this time, the other seedling delivery tray 22 synchronously moves to the other end point of its transverse trajectory. At this time, the second sensor 620 close to the second magnet 520 receives the magnetic field signal of the second magnet 520, and the second sensor 620 receives a valid signal. The first sensor 610 does not receive the magnetic field signal of the first magnet 510, and the first sensor 610 does not receive a valid signal. In this way, it can be determined that the initialization is successful; otherwise, it is determined that the initialization fails.

[0156] When the initialization fails, it may be that the first sensor 610 or the second sensor 620 is abnormal, or the magnetism of the first magnet 510 or the second magnet 520 is abnormal, or the installation positions of the two seedling feeding trays 22 or the two sensors are incorrect. At this time, the user needs to check.

[0157] For example, when the driving device 23 comprises: two driving motors 231; Fig.10 As shown, the two driving motors 231 are respectively connected to the two seedling delivery trays 22 in a one-to-one corresponding manner, and the two driving motors 231 are used to respectively drive the corresponding seedling delivery trays 22 to perform reciprocating transverse movement.

[0158] That is, each seedling delivery tray 22 is respectively equipped with a driving motor 231 , so that different seedling delivery trays 22 can be driven and controlled by their respective driving motors 231 .

[0159] When each seedling delivery tray 22 is equipped with a driving motor 231, please refer to Fig.10 and Fig.11As shown, the seedling throwing system 1000 further includes: two first magnets 510, two second magnets 520, two first sensors 610 and two second sensors 620. Among them, one end of each seedling delivery tray 22 is provided with a first magnet 510; the other end of each seedling delivery tray 22 is provided with a second magnet 520, and the first magnets 510 of the two seedling delivery trays 22 are far away from each other; the two first sensors 610 are both arranged on the load module 10, and the two first sensors 610 correspond to the two first magnets 510 one by one; the two second sensors 620 are both arranged on the load module 10, and the two second sensors 620 correspond to the two second magnets 520 one by one.

[0160] Assume that the seedling delivery tray 22 includes a first seedling delivery tray 22A and a second seedling delivery tray 22B. At this time, if the initialization steps in the previous text need to be executed, the two driving motors 231 respectively drive the first seedling delivery tray 22A and the second seedling delivery tray 22B to move in opposite directions. When the signal of any first sensor 610 (or second sensor 620) is valid, the corresponding driving motor 231 stops moving. When the signal of the other first sensor 610 (or second sensor 620) is also valid, both seedling delivery trays 22 stop; at this time, the two driving motors 231 respectively drive the first seedling delivery tray 22A and the second seedling delivery tray 22B to move in opposite directions. If the two second sensors 620 receive valid signals at the same time, it is determined that the initialization is successful; otherwise, it is determined that the initialization fails.

[0161] In an alternative embodiment, please refer to Fig.11 As shown, the seedling throwing system 1000 provided in the present application also includes: an alarm 700; the alarm 700 is used to issue an alarm when any magnet moves to the end point of the transverse trajectory close to its corresponding sensor and the sensor corresponding to the magnet does not detect a position signal.

[0162] When any magnet moves to the end point of the lateral movement track close to its corresponding sensor, if the sensor corresponding to the magnet does not detect a position signal, it may be that the initialization fails, or the sensor is abnormal, or the magnet is abnormal, or there is a problem with the setting position of the magnet or sensor. In any of the above cases, the alarm 700 can sound an alarm.

[0163] It should be noted that no matter whether the driving device 23 includes one driving motor 231 or two driving motors 231, when any magnet moves to the end point of the lateral movement trajectory close to its corresponding sensor and the sensor corresponding to the magnet does not detect a position signal, the alarm 700 can sound an alarm.

[0164] Furthermore, in the present embodiment, when the two seedling delivery trays 22 include a main seedling delivery tray 22 and a slave seedling delivery tray 22, in order to obtain the real-time position of the main seedling delivery tray 22 and provide reference data for the movement of the slave seedling delivery tray 22, the seedling throwing system 1000 provided in the present application also includes: a rotor position sensor 800.

[0165] The rotor position sensor 800 is arranged on the driving motor 231 for driving the main seedling delivery tray 22 to move laterally. The control module 400 is used to obtain the position information of the main seedling delivery tray 22 according to the position information obtained by the rotor position sensor 800, and control the lateral movement of the slave seedling delivery tray 22 according to the position information.

[0166] The seedling throwing control method and seedling throwing system 1000 provided in the present application are implemented by arranging two seedling sending plates 22 on opposite sides of the load module 10, and when the drone 200 performs aerial seedling throwing operations, the two seedling sending plates 22 are controlled to keep the lateral movement directions of the two seedling sending plates 22 opposite at all times during the reciprocating lateral movement. In this way, when the two seedling sending plates 22 are reciprocatingly moved laterally and cooperate with the seedling retrieval module 30 to throw seedlings, the tilting forces of the two seedling sending plates 22 can offset each other, thereby offsetting the impact force of the two seedling sending plates 22 on the drone 200 during the lateral movement. In this way, when the drone 200 performs aerial seedling throwing, the fuselage of the drone 200 can be avoided from tilting, thereby ensuring the posture balance of the drone 200, and further improving the flight safety and stability during aerial seedling throwing.

[0167] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for controlling seedling throwing, characterized in that: The method is applied to a drone equipped with a seedling throwing system, wherein the seedling throwing system comprises: a load module connected to the drone, two seedling delivery trays arranged on opposite sides of the load module, and two seedling taking modules cooperating with the two seedling delivery trays; the method comprises: When the drone performs the seedling throwing operation, the seedling delivery tray is controlled to move back and forth, and the seedling taking module is controlled to separate the seedlings from the blanket seedlings carried on the seedling delivery tray and then throw them out; The two seedling delivery trays move in opposite directions when performing reciprocating lateral movement to ensure the posture balance of the drone.

2. The method according to claim 1, characterized in that The two seedling sending trays include a first seedling sending tray and a second seedling sending tray, and the controlling the seedling sending trays to perform reciprocating transverse movement includes: When the first seedling sending plate is controlled to move laterally along the first direction, the second seedling sending plate is controlled to move laterally along the second direction; when the first seedling sending plate is controlled to move laterally along the second direction, the second seedling sending plate is controlled to move laterally along the first direction; wherein the first direction is opposite to the second direction.

3. The method according to claim 2, characterized in that The method further comprises: The first seedling sending tray and the second seedling sending tray are controlled to keep synchronization when they move back and forth.

4. The method according to claim 3, characterized in that The controlling the first seedling sending tray and the second seedling sending tray to keep synchronization when reciprocating and lateral movement comprises: The first seedling sending tray and the second seedling sending tray are controlled to keep synchronization in one or more aspects of starting, accelerating and decelerating when they move back and forth.

5. The method according to claim 3, characterized in that: The first seedling sending tray is used as a main seedling sending tray, and the second seedling sending tray is used as a slave seedling sending tray; and the first seedling sending tray and the second seedling sending tray are controlled to keep synchronization when they move back and forth, including: The lateral movement of the slave seedling delivery tray is synchronously controlled according to the real-time position fed back by the master seedling delivery tray.

6. The method according to claim 5, characterized in that The synchronous control of the lateral movement of the slave seedling delivery tray according to the real-time position fed back by the master seedling delivery tray comprises: The lateral movement of the slave seedling delivery tray is synchronously controlled according to the real-time position and compensation position information fed back by the main seedling delivery tray, so that the real-time positions of the main seedling delivery tray and the slave seedling delivery tray are symmetrically distributed relative to the load module; the compensation position information is used to characterize the position error caused by the delay.

7. The method according to claim 5, characterized in that The real-time position fed back by the main seedling delivery tray is converted according to the rotor position sensor arranged on the transverse motor of the main seedling delivery tray.

8. The method according to claim 5, characterized in that The controlling the first seedling conveying tray to move laterally along the first direction comprises: When the driving device of the main seedling sending tray is in the position control mode, the preset main seedling sending tray linear speed is converted into a given position of the main seedling sending tray, and the main seedling sending tray is controlled to move laterally in a first direction according to the given position, and the main seedling sending tray is controlled to move in the opposite direction after the main seedling sending tray moves to the end point of the transverse movement trajectory.

9. The method according to claim 5 or 8, characterized in that: The controlling the second seedling conveying tray to move laterally along the second direction comprises: When the driving device of the slave seedling sending tray is in the position control mode, the given position of the slave seedling sending tray is obtained according to the real-time position fed back by the main seedling sending tray, the slave seedling sending tray is controlled to move laterally in the second direction according to the given position, and the slave seedling sending tray is controlled to move in the opposite direction after it moves to the end point of the transverse movement trajectory.

10. The method according to claim 9, characterized in that The step of obtaining the given position of the slave seedling delivery tray according to the real-time position fed back by the master seedling delivery tray comprises: The given position of the slave seedling delivery tray is obtained according to the real-time position and compensated position information fed back by the master seedling delivery tray, and the compensated position information is used to characterize the position error caused by the delay.

11. The method according to claim 1, characterized in that Before controlling the seedling delivery tray to perform reciprocating transverse movement, the method further includes: Controlling the two seedling delivery trays to move horizontally to opposite ends of the load module respectively; It is determined whether the two seedling delivery trays have reached the opposite ends of the load module. If so, it is confirmed that the initialization is successful; otherwise, it is confirmed that the initialization fails.

12. The method according to claim 11, characterized in that After the confirmation of the initialization failure, the method further includes: Control the alarm to sound an alarm.

13. A seedling throwing system, characterized in that: include: A load module, wherein the load module is used to connect with the drone; Two seedling delivery trays, which are arranged on opposite sides of the load module and are used to carry blanket seedlings respectively; Two seedling taking modules, the two seedling taking modules are respectively arranged on the load module, and the two seedling taking modules correspond to the two seedling delivery trays one by one; The control module is used to control the seedling delivery tray to move back and forth when the drone performs seedling throwing operation, and to control the seedling retrieval module to separate the seedlings from the seedling blanket carried on the seedling delivery tray and then throw them out; wherein the two seedling delivery trays move in opposite directions when moving back and forth to ensure the posture balance of the drone.

14. The seedling throwing system according to claim 13, characterized in that: The seedling throwing system further comprises: a driving device; the driving device is electrically connected to the control module; the driving device is arranged on the load module, and the driving device is used to drive the two seedling sending plates to respectively perform reciprocating and transverse movement.

15. The seedling throwing system according to claim 14, characterized in that: The driving device comprises: two driving motors; the two driving motors are respectively connected to the two seedling delivery trays in a one-to-one corresponding manner, and the two driving motors are used to respectively drive the corresponding seedling delivery trays to perform reciprocating transverse movement.

16. The seedling throwing system according to claim 15, characterized in that: The seedling throwing system also includes: Two first magnets, one end of each of the seedling delivery trays is provided with one of the first magnets; Two second magnets, each of the seedling delivery trays is provided with one second magnet at the other end, and the first magnets of the two seedling delivery trays are far away from each other; Two first sensors, both of which are disposed on the load module, and the two first sensors correspond to the two first magnets one by one; Two second sensors, both of which are arranged on the load module, and the two second sensors correspond to the two second magnets one by one.

17. The seedling throwing system according to claim 16, characterized in that: The seedling throwing system also includes: an alarm; the alarm is used to issue an alarm when any one of the magnets moves to the end point of the transverse trajectory close to its corresponding sensor and the sensor corresponding to the magnet does not detect a position signal.

18. The seedling throwing system according to claim 13, characterized in that: The two seedling delivery trays include a main seedling delivery tray and a slave seedling delivery tray, and the seedling throwing system also includes: a rotor position sensor; the rotor position sensor is arranged on a driving motor for driving the main seedling delivery tray to move laterally, and the control module is used to obtain the position information of the main seedling delivery tray according to the position information obtained by the rotor position sensor, and control the lateral movement of the slave seedling delivery tray according to the position information.

19. The seedling throwing system according to claim 13, characterized in that: The control module is also used to execute the method according to any one of claims 1 to 12.

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