Seedling throwing control method and seedling throwing system

Abstract

The application provides a seedling throwing control method and a seedling throwing system, and relates to the technical field of seedling throwing. The seedling throwing control method is applied to a unmanned aerial vehicle (UAV) carrying a seedling throwing system. The seedling throwing system comprises a load module for being connected with the UAV, two seedling feeding discs arranged on opposite sides of the load module, and two seedling taking modules for cooperating with the two seedling feeding discs. The seedling throwing control method comprises the following steps: when the UAV is performing a seedling throwing operation, the seedling feeding discs are controlled to move back and forth horizontally, and the seedling taking modules are controlled to throw out seedlings separated from the seedling mats carried on the seedling feeding discs; and the moving directions of the two seedling feeding discs are opposite when the seedling feeding discs move back and forth horizontally, so as to ensure the attitude balance of the UAV. The seedling throwing control method can avoid the inclination of the UAV body during the process of throwing seedlings in the air, thereby improving the flight safety and stability during the process of throwing seedlings in the air.

Description

TECHNICAL FIELD

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

[0002] For the mechanized planting of rice, there are only two solutions of rice transplanter and throwing seedling machine on the market, and both of the two solutions in the prior art rely on agricultural machinery running on the ground. For the throwing seedling machine, the seedlings are generally planted in a way of seedling tray, the seedling tray has independent holes to realize the separation of multiple seedlings, and the throwing seedling machine throws the seedlings in the relatively independent holes. This way has a high requirement for planting and is not popular.

[0003] On the contrary, the mainstream rice planting agricultural machinery that is popular at present is the rice transplanter, and the seedling raising way of farmers is mainly the blanket seedling. The blanket seedling has the characteristic that the roots of the seedlings are connected to each other, so that more seedlings can be cut from the same size area, and the number of pot seedlings is relatively small. For the blanket seedling, the current planting way is only suitable for the way of transplanting, and if the user wants to realize the throwing seedling in the air, the seedling raising way needs to be changed. However, if the blanket seedling is used for the throwing seedling in the air, the problem of how to ensure the stability and safety of flight during the throwing seedling in the air will be caused at the same time, and therefore, a technology capable of realizing the safe throwing seedling in the air is urgently needed. SUMMARY

[0004] The present application provides a throwing seedling control method and a throwing seedling system, which can avoid the inclination of the fuselage during the throwing seedling in the air, thereby improving the flight safety and stability during the throwing seedling in the air.

[0005] In order to achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0006] In a first aspect, the embodiments of the present application provide a throwing seedling control method. The throwing seedling control method is applied to a unmanned aerial vehicle (UAV) carrying a throwing seedling system, the throwing seedling system comprising: a load module for connecting with the UAV, two seedling feeding trays arranged on opposite sides of the load module, and two seedling taking modules cooperating with the two seedling feeding trays; the throwing seedling control method comprising: when the UAV performs a throwing seedling operation, controlling the seedling feeding trays to move back and forth horizontally, and controlling the seedling taking modules to throw out the seedlings separated from the blanket seedlings carried on the seedling feeding trays; wherein the moving directions of the two seedling feeding trays are opposite when moving back and forth horizontally, so as to ensure the attitude balance of the UAV. The throwing seedling control method can avoid the inclination of the fuselage during the throwing seedling in the air, thereby improving the flight safety and stability during the throwing seedling in the air.

[0007] In an optional embodiment, the two seedling conveying plates comprise a first seedling conveying plate and a second seedling conveying plate, and the reciprocating horizontal movement of the seedling conveying plates is controlled by: controlling the first seedling conveying plate to move horizontally in a first direction and controlling the second seedling conveying plate to move horizontally in a second direction; controlling the first seedling conveying plate to move horizontally in the second direction and controlling the second seedling conveying plate to move horizontally in 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 conveying plate and the second seedling conveying plate to keep synchronization during the reciprocating horizontal movement.

[0009] In an optional embodiment, the control of the first seedling conveying plate and the second seedling conveying plate to keep synchronization during the reciprocating horizontal movement comprises:

[0010] controlling the first seedling conveying plate and the second seedling conveying plate to keep synchronization in one or more aspects of starting, accelerating, and decelerating during the reciprocating horizontal movement.

[0011] In an optional embodiment, the first seedling conveying plate is a master seedling conveying plate and the second seedling conveying plate is a slave seedling conveying plate, and the control of the first seedling conveying plate and the second seedling conveying plate to keep synchronization during the reciprocating horizontal movement comprises:

[0012] synchronizing the horizontal movement of the slave seedling conveying plate according to the real-time position of the master seedling conveying plate.

[0013] In an optional embodiment, the synchronizing of the horizontal movement of the slave seedling conveying plate according to the real-time position of the master seedling conveying plate comprises:

[0014] synchronizing the horizontal movement of the slave seedling conveying plate according to the real-time position of the master seedling conveying plate and compensation position information, so that the real-time positions of the master seedling conveying plate and the slave seedling conveying plate are symmetrically distributed relative to the load module; the compensation position information is used to represent the position error caused by delay.

[0015] In an optional embodiment, the real-time position of the master seedling conveying plate is obtained by conversion according to a rotor position sensor arranged on a horizontal movement motor of the master seedling conveying plate.

[0016] In an optional embodiment, the control of the first seedling conveying plate to move horizontally in the first direction comprises:

[0017] when the driving device of the master seedling conveying plate is in a position control mode, the master seedling conveying plate is controlled to move horizontally in the first direction according to a given position of the master seedling conveying plate converted from a preset linear speed of the master seedling conveying plate, and the master seedling conveying plate is controlled to move reversely after moving to an end point of the horizontal movement track.

[0018] In an optional embodiment, the control of the second seedling conveying plate to move horizontally in the second direction comprises:

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

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

[0021] The given position of the slave seedling feeding tray is obtained based on the real-time position and compensated position information fed back by the main seedling feeding 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 move back and forth, 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 has failed, 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 the 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 one to one with the two seedling delivery trays;

[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 seedling blanket carried on the seedling delivery tray and then throw them out; wherein, the two seedling delivery trays move in opposite directions when performing reciprocating and transverse movements 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 move back and forth.

[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 transmission manner, and the two driving motors are used to drive the corresponding seedling delivery trays to move back and forth.

[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, one at the other end of each seedling delivery tray, and the first magnets of the two seedling delivery trays are spaced apart 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 configured to sound 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 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 drive 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 based on the position information obtained by the rotor position sensor, and control the lateral movement of the slave seedling delivery tray based on 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 by the application is applied to a unmanned aerial vehicle with a seedling throwing system, the seedling throwing system comprises a load module for being connected with the unmanned aerial vehicle, two seedling feeding discs arranged on opposite sides of the load module, and two seedling taking modules for cooperating with the two seedling feeding discs; the seedling throwing control method comprises: when the unmanned aerial vehicle performs the seedling throwing operation, the seedling feeding discs are controlled to move back and forth horizontally, and the seedling taking modules are controlled to throw out the seedlings separated from the seedling mats carried on the seedling feeding discs; wherein the moving directions of the two seedling feeding discs are opposite when the two seedling feeding discs move back and forth horizontally, so as to ensure the attitude balance of the unmanned aerial vehicle. According to the application, the two seedling feeding discs are arranged on opposite sides of the load module, and when the unmanned aerial vehicle performs the aerial seedling throwing operation, the moving directions of the two seedling feeding discs are kept opposite during the back and forth horizontal movement of the two seedling feeding discs, so that the tilting forces of the two seedling feeding discs can be offset when the two seedling feeding discs move back and forth horizontally and cooperate with the seedling taking modules to throw the seedlings, thereby the impact force of the two seedling feeding discs on the unmanned aerial vehicle during the horizontal movement of the two seedling feeding discs can be offset, so that the unmanned aerial vehicle body can be prevented from tilting when the unmanned aerial vehicle performs the aerial seedling throwing, and the attitude balance of the unmanned aerial vehicle is ensured, and the safety and stability of the aerial seedling throwing are improved.

[0043] In order to make the above objectives, characteristics and advantages of the present application more apparent, the following will describe a preferred embodiment in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to make the above objectives, characteristics and advantages of the present application more apparent, the following will describe a preferred embodiment in detail with reference to the accompanying drawings.

[0045] Figure 1 Structure diagram of the seedling throwing system provided by an embodiment of the application;

[0046] Figure 2 Structure diagram of the seedling throwing mechanism provided by an embodiment of the application from a first perspective;

[0047] Figure 3 Structure diagram of the seedling throwing mechanism provided by an embodiment of the application from a second perspective;

[0048] Figure 4 Structure diagram of the seedling throwing system provided by another embodiment of the application from a first perspective;

[0049] Figure 5 Structure diagram of the seedling throwing system provided by another embodiment of the application from a second perspective;

[0050] Figure 6The operation schematic diagram of the seedling throwing control method provided by the embodiment of the present application is shown in the following table.

[0051] Figure 7 The flow schematic diagram of the seedling throwing control method provided by the embodiment of the present application is shown in the following table.

[0052] Figure 8 The structure schematic diagram of the seedling throwing system provided by another embodiment of the present application is shown in the following table.

[0053] Figure 9 The structure schematic diagram of the seedling throwing system provided by another embodiment of the present application is shown in the following table.

[0054] Figure 10 The structure schematic diagram of the seedling throwing system provided by another embodiment of the present application is shown in the following table.

[0055] Figure 11 The control logic diagram of the seedling throwing system provided by another embodiment of the present application is shown in the following table.

[0056] Icon: 1000-seedling throwing system; 100-seedling throwing mechanism; 10-load module; 20-seedling feeding module; 21-seedling supporting plate; 211-opening; 212-slideway; 22-seedling feeding disc; 22A-first seedling feeding disc; 22B-second seedling feeding disc; 23-driving device; 231-driving motor; 24-conveying device; 25-plant pressing device; 251-rotating shaft; 252-pressing strip; 30-seedling taking module; 31-driving source; 32-transmission box; 33-cutter head; 331-mounting part; 332-cutter body; 333-slot; 40-supporting module; 43-first support; 46-second support; 47-third support; 200-drone; 300-plantlet; 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 objects, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present application belong to the scope of protection of the present application.

[0059] It should be noted that like reference numerals and characters refer to like elements throughout the following figures and the detailed description, and thus, definitions thereof need not be repeated with each repetition of these numbers and characters.

[0060] It should be noted that the terms "first", "second", and so on, are used herein only to distinguish one entity or action from another, and do not necessarily require or imply any actual relationship or order between or among these entities or actions. Also, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by an expression "comprising a... " does not exclude the existence of additional identical elements in the process, method, article, or apparatus including the element.

[0061] Reference is made to Figure 1 and Figure 2 The embodiments provide a seedling throwing mechanism 100 and a seedling throwing system 1000. Specifically, the seedling throwing system 1000 includes a unmanned aerial vehicle 200 and at least one set of seedling throwing mechanism 100, and the seedling throwing mechanism 100 is carried on the unmanned aerial vehicle 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 elastic force to realize the seedling throwing operation. Meanwhile, the flight of the unmanned aerial vehicle 200 is coordinated to realize the flight seedling throwing operation.

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

[0063] The seedling throwing mechanism 100 comprises a load module 10, a seedling conveying module 20, and a seedling taking module 30. The load module 10 is arranged on the unmanned aerial vehicle 200. The seedling conveying module 20 is arranged on the load module 10, and is used to convey the seedling blanket 300. The seedling taking module 30 is arranged on the load module 10, and is used to throw out the seedling 310 separated from the seedling blanket 300 on the seedling conveying module 20 by centrifugal force and / or elastic force. In this way, the unmanned aerial vehicle 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation, convey the seedling blanket 300 by the seedling conveying module 20, separate the seedling blanket 300 by the seedling taking module 30, and throw out the seedling 310, so as to realize the flying seedling throwing operation of the seedling blanket 300.

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

[0065] In this embodiment, the unmanned aerial vehicle 200 is a rotor unmanned aerial vehicle 200, specifically a four-rotor unmanned aerial vehicle 200. Of course, it can also be a single-rotor unmanned aerial vehicle 200, a double-rotor unmanned aerial vehicle 200, a six-rotor unmanned aerial vehicle 200, an eight-rotor unmanned aerial vehicle 200, etc. The unmanned aerial vehicle 200 can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. In order to facilitate description, the front, rear, left, right, upper, and lower directions are shown in the drawings, which are relative positional relationships that can be clearly understood by those skilled in the art when the unmanned aerial vehicle 200 is normally placed or is flying.

[0066] Figure 1 As shown in FIG. 1, the seedling throwing mechanism 100 is a split type, specifically, the load module 10 of the seedling throwing mechanism 100 is detachably carried on the lower part of the unmanned aerial vehicle 200, that is, the unmanned aerial vehicle 200 and the seedling throwing mechanism 100 adopt an upper-lower split type design, and the unmanned aerial vehicle 200 serves as a mobile platform, and the seedling throwing mechanism 100 is designed in a split type. In other words, the seedling throwing mechanism 100 in this form is an independent structure, which does not depend on the fuselage frame of the unmanned aerial vehicle 200. Based on this type, in specific operation scenarios, the corresponding device can be replaced according to actual operation needs, for example, after the seedling throwing mechanism 100 is detached, a sowing device is installed to realize the sowing of pesticides, fertilizers, seeds, etc. Similarly, after the seedling throwing mechanism 100 is detached, a surveying and mapping device, a spraying device, etc. agricultural operation mechanism can be installed.

[0067] Please refer to Figure 2 and Figure 3 The various modules 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 and is used to drive the cutter head 33 to separate the seedlings 300 on the seedling delivery module 20 and 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 blade head 33 rotates in the direction indicated by the arrow A, thereby separating the seedlings 300 while contacting them. The separated seedlings 310 rotate along the direction of the arrow A with the blade head 33. When the blade head 33 rotates to a specific position, the seedlings 310 are ejected under the action of centrifugal force and / or ejection force. The blade head 33 may be provided with an ejection member that can store and release energy via a cam member during the rotation of the blade head 33. When the ejection member releases energy, the seedlings 310 are 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 drive source 31, with the drive source 31 directly driving the cutter head 33 to rotate. Alternatively, the cutter head 33 can be rotatably mounted on the load module 10, with the drive source 31 mounted on the load module 10 and connected to the cutter head 33 via a transmission mechanism, such as a gearbox, connecting rod mechanism, sprocket mechanism, or pulley mechanism, to provide driving force. Of course, the drive 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 blade head 33 includes a mounting portion 331 and a blade body 332 mounted on the mounting portion 331. The mounting portion 331 is connected to the drive source 31. The blade body 332 is formed with a notch 333. The notch 333 is used to hold the seedling 310 after the blade body 332 separates the seedling 310, causing the seedling 310 to rotate with it and be ejected under the action of centrifugal force and / or ejection force. It is understood that during the specific operation, the notch 333 on the blade body 332 will hold the soil at the root of the seedling 310, then drive it into rotation during the rotation process, thereby ejecting it. Of course, the specific structure of the blade head 333 can also be selected as a seedling needle.

[0071] Combine Figure 2 and Figure 3 In this embodiment, the seedling removal module 30 further includes a transmission box 32. A drive source 31 is connected to the transmission box 32 and is used to drive the transmission box 32 to rotate. Each transmission box 32 is provided with at least one cutter head 33. The transmission box 32 can impart a specific motion trajectory to the cutter head 33. Generally, the transmission box 32 can be provided with multiple intermeshing gears. The drive 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 ensure that the motion trajectory of the cutter head 33 and the posture of the cutter head 33 during motion meet the requirements.

[0072] In order to improve the efficiency of taking seedlings, the rotation speed of the cutter head 33 is usually increased. However, too high speed may cause problems such as heat dissipation and unstable separation. To solve this problem, at least two cutter heads 33 are arranged on each transmission box 32 in the embodiment, so that the number of cutter heads 33 at the same separation and throwing position can be expanded.

[0073] In the embodiment, two cutter heads 33 are arranged on one transmission box 32. Of course, in other embodiments, only one cutter head 33 or three, four or more cutter heads 33 can be arranged. When two cutter heads 33 are arranged on one transmission box 32, the angle between the two cutter heads 33 to the center of the transmission box 32 can be 180 degrees, the three cutter heads 33 can be spaced 120 degrees, and the four cutter heads 33 can be spaced 90 degrees. In other words, the cutter heads 33 can be arranged in a uniform distribution. Of course, it is not excluded that the cutter heads 33 are arranged in a non-uniform distribution in some scenarios.

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

[0075] On the other hand, the efficiency of throwing seedlings can also be improved by increasing the number of seedling delivery modules 20. Please refer to Figure 3 In the embodiment, the number of seedling delivery modules 20 is multiple, and the number of seedling taking modules 30 is multiple and corresponds to the multiple seedling delivery modules 20.

[0076] Specifically, Figure 3 In the embodiment, the number of seedling delivery modules 20 is three, and correspondingly, the number of seedling taking modules 30 is also three. Of course, when the number of seedling delivery modules 20 is greater than three, the number of seedling taking modules 30 can also be increased correspondingly. Generally, the seedlings 310 delivered by the multiple seedling delivery modules 20 are of the same type, and the throwing operation is performed in the same field, so the multiple seedling taking modules 30 can be controlled to work synchronously by the control device arranged on the load module 10, or the flight control of the unmanned aerial vehicle 200. Of course, it is not excluded that the multiple seedling delivery modules 20 work independently, for example, the taking efficiency of the multiple seedling taking modules 30 is not equal, or part of the seedling taking modules 30 work while the rest 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; wherein, 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 removal module 30, the opening 211 of the seedling support plate 21, etc. relative to the load module 10 remain unchanged, and the seedling delivery tray 22 can reciprocate in the left and right directions. In this way, the seedling removal module 30 only separates the blanket of seedlings 300 exposed in the opening 211, thereby achieving row-by-row and bunch-by-batch separation and throwing of the blanket of seedlings 300. 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 support plate 21 and the seedling removal module 30 can move laterally in the left and right directions.

[0079] In this embodiment, the seedling supporting plate 21 can be understood as a long strip of opening 211. The seedling supporting plate 21 is relatively fixed to the load module 10 and does not move with the left and right reciprocating motion of the seedling feeding tray 22. The seedling supporting plate 21 has a certain supporting effect on the seedling feeding 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 . The driving device 23 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 be a motor with a gear rack mechanism to achieve the left and right reciprocating movement of the seedling feeding tray 22, or a motor with a screw mechanism or a synchronous belt. Of course, it is not ruled out that the rotor power of the drone 200 is used to drive the seedling feeding tray 22 to move left and right.

[0082] Combine Figure 3 Generally, the seedling feeding tray 22 is set to an inclined position. This design allows the seedling blanket 300 to move downward under the action of gravity after the seedling feeding tray 22 moves left and right once, making it easier for the seedling removal module 30 to take the next round of seedlings. Of course, a power source can also be set to drive it, for example, combined with Figure 3In the embodiment, the seedling feeding module 20 further comprises a conveying device 24, which is arranged on the seedling feeding tray 22 and is used to drive the blanket seedlings 300 to move towards the seedling supporting plate 21.

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

[0084] In addition, considering the possibility of disengagement of the blanket seedlings 300 after being placed on the seedling feeding tray 22, in combination with Figure 2 and Figure 3 In the embodiment, the seedling feeding module 20 further comprises a seedling pressing device 25, which is arranged on the seedling feeding tray 22 and is used to limit the blanket seedlings 300 in the seedling feeding tray 22. The seedling pressing device 25 can be in the form of a plate or a rod. Specifically, in the embodiment, the seedling pressing device 25 comprises a rotating shaft 251 and a plurality of pressing strips 252. The rotating shaft 251 is horizontally and rotatably arranged on the seedling feeding tray 22, and the plurality of pressing strips 252 are vertically and spacedly arranged on the rotating shaft 251. The plurality of pressing strips 252 are used to limit the blanket seedlings 300 in the seedling feeding tray 22.

[0085] In some specific scenarios in the embodiment, the rotating shaft 251 can rotate with a certain damping relative to the seedling feeding tray 22. Therefore, the force of the pressing strips 252 pressing on the blanket seedlings 300 can be adjusted, and the pressing state can be maintained. Of course, a torsional spring can also be sleeved on the rotating shaft 251 to provide a pressing force in the direction of the blanket seedlings 300.

[0086] In combination with Figure 3 In the embodiment, the seedling feeding tray 22 is a rectangular frame structure, which specifically comprises a bearing plate and two side plates arranged on the left and right sides of the bearing plate, and no side plate is arranged on the upper and lower sides of the bearing plate. Therefore, an upper end opening 211 is formed on the upper side to facilitate the feeding of the seedlings, and a lower end opening 211 is formed on the lower side to facilitate the taking of the seedlings. The width of the seedling feeding tray 22 can match the width of a tray of blanket seedlings 300. In addition, the height of the seedling feeding tray 22 is not limited to the height of a tray of blanket seedlings 300. When installed, the two ends of the rotating shaft 251 can be rotatably arranged on the two side plates of the seedling feeding tray 22, Figure 4In the embodiment, four pressing strips 252 are arranged on the rotating shaft 251. In other words, four pressing strips 252 are arranged on the seedling conveying plate 22 to limit the blanket seedlings 300 in the seedling conveying plate 22, so that the blanket seedlings 300 can be pressed on the seedling conveying plate 22 by the pressing strips 252, which greatly ensures that the blanket seedlings 300 will not be blown away during the flight of the unmanned aerial vehicle 200. Of course, the number of the pressing strips 252 corresponding to the seedling conveying plate 22 can not be limited to four, for example, it can also be three, five or more. In addition, since the number of the seedling conveying modules 20 in the embodiment is multiple, the number of the seedling pressing devices 25 can also be multiple, and each seedling conveying plate 22 is correspondingly provided with a seedling pressing device 25. In some scenarios, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 can share one rotating shaft 251.

[0087] In addition, in combination with Figure 3 In the embodiment, the multiple positions of the seedling conveying plate 22 in the height direction are supported by the load module 10. For example, in the embodiment, the seedling throwing mechanism 100 further includes a support module 40, for example, the support module 40 includes a first support 43, one end of the first support 43 is connected with the load module 10, and the other end of the first support 43 supports the upper part of the seedling conveying plate 22. In combination with Figure 3 and Figure 4 Since the seedling conveying plate 22 needs to move left and right, in order to facilitate support, the support position of the first support 43 and the seedling conveying plate 22 can be achieved by the cooperation of the sliding rail 212 and the pulley, for example, the end of the first support 43 is provided with a pulley, and the seedling conveying plate 22 is provided with a sliding rail 212, and the two are rolling cooperation. Alternatively, the end of the first support 43 is provided with a sliding rail 212, and the seedling conveying plate 22 is provided with a pulley. In addition, in some scenarios, the height of the first support 43 is adjustable, and the inclination angle of the seedling conveying plate 22 is also adjustable.

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

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

[0090] Figures 1-3 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 a seedling throwing system 1000 is shown, wherein the descriptions of the same modules, mechanisms, or components can be found in the previous text. In this embodiment, the seedling throwing system 1000 is a dual system, that is, it has two seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 share a load module 10. The two seedling throwing mechanisms 100 are arranged back-to-back. Of course, in other embodiments, the two seedling throwing mechanisms 100 can also be arranged in other ways (for example, arranged in the same direction), or three, four, or more seedling throwing mechanisms 100 can be arranged.

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

[0093] When the drone 200 is in flight, the drive source 31 drives the transmission box 32 to rotate, which 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, driving the rice seedlings 310 to rotate. 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 achieving the flying and throwing of the rice seedling blanket 300. At the same time, the rice seedling feeding tray 22 moves horizontally, driving the rice seedling blanket 300 to move left and right, so that the rice seedling blanket 300 is separated and thrown row by row and bunch by bunch. After a row of rice seedlings 310 in the left and right directions of the rice seedling blanket 300 is separated, the entire rice seedling blanket 300 moves downward under the action of gravity and the driving force of the conveyor 24. In this way, when the rice seedling feeding tray 22 moves horizontally again, it is separated and thrown row by row and bunch by bunch by the rice seedling removal module 30. And so on, the reciprocating cycle is carried out until all the rice seedling blankets 300 are separated and thrown.

[0094] When using the aforementioned seedling throwing system 1000 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 rapidly. At this time, the left and right lateral 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 become unstable in flight, and in serious cases, even cause a safety accident. Therefore, a technology that can achieve safe seedling throwing during aerial seedling throwing 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 are introduced and described in detail below.

[0096] In the first aspect, an embodiment of the present invention provides a method for controlling seedling throwing. The method 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 a drone 200, two seedling delivery trays 22 arranged on opposite sides of the load module 10, and two seedling removal modules 30 that cooperate with the two seedling delivery trays 22; the seedling throwing control method includes:

[0097] S300: When the drone performs a seedling throwing operation, the drone controls the seedling delivery tray to move back and forth, and controls the seedling retrieval module to separate the seedlings from the seedling blanket carried on the seedling delivery tray and 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 drone 200.

[0099] It should be noted that the above-mentioned seedling throwing control method provided in this 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 feeding tray 22 and a seedling taking module 30. The seedling feeding tray 22 includes two seedling feeding trays 22. Figure 3 and Figure 4 The two modules 30 are arranged on opposite sides of the load module 10. The two modules 30 correspond to the two seedling delivery trays 22. Each module 30 is used to separate the seedlings 310 from the seedling blanket 300 on the corresponding seedling delivery tray 22 and then throw them out.

[0100] The specific structures of the above-mentioned loading 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 can also adopt other feasible structures.

[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 flipped 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 a seedling throwing operation in the air, in order to remove the seedlings 310 carried on the seedling feeding trays 22 row by row and bunch by bunch, in this embodiment, when the drone 200 is performing the seedling throwing operation, it is necessary to control the two seedling feeding trays 22 to move back and forth. Controlling the seedling feeding trays 22 to move back and forth means controlling the seedling feeding trays 22 to move from their first end to their second end, and then from their second end back to their first end, and so on.

[0103] In addition, it should be noted that, in the process of controlling the reciprocating lateral movement of the seedling delivery tray 22, the seedling throwing control method provided in the present application also needs to control the seedling retrieval 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 lateral movement of the seedling delivery tray 22, the seedlings 310 on the seedling delivery tray 22 can be retrieval and thrown at the same time, thereby realizing the row-by-row and bunch-by-bunch throwing of the seedlings 310.

[0104] In the above step S300, the present application does not limit the method of throwing the seedlings 310. The seedlings 310 may be thrown under the action of centrifugal force and / or ejection force, as long as the seedlings 310 can be thrown 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 rice seedling throwing control method provided in this application needs to control the reciprocating and lateral movement directions of the two rice seedling delivery trays 22 in opposite directions during the process of controlling the two rice seedling delivery 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, as shown in FIG. Figure 6 As shown in (a), when the first seedling feeding tray 22A is controlled to move horizontally to the right, the second seedling feeding tray 22B needs to be controlled to move horizontally to the left; Figure 6 As shown in (b), when the first seedling feeding tray 22A is controlled to move laterally to the left, the second seedling feeding tray 22B needs to be controlled to move laterally to the right. In other words, during the reciprocating transverse movement of the two seedling feeding trays 22, the transverse movement directions of the two seedling feeding trays 22 are opposite. In this way, it can be ensured that the tilting forces on both sides of the two seedling feeding trays 22 can always offset each other during the reciprocating transverse movement, thereby keeping the UAV 200 always in a balanced posture during the flight, avoiding the tilt of the fuselage, and thus improving the safety of aerial seedling throwing. It should be noted that Figure 6 It is only used to illustrate the movement direction of the two seedling feeding trays and does not necessarily correspond to the actual structure or actual position of the seedling feeding trays.

[0107] To sum up, 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 drone 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 move back and forth 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 drone during the lateral movement. In this way, when the drone performs aerial seedling throwing operations, the drone's fuselage can be avoided from tilting, the drone's posture balance is ensured, and the safety and stability of the flight during aerial seedling throwing can be improved.

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

[0109] When the first seedling feeding tray 22A is controlled to move laterally along the first direction, the second seedling feeding tray 22B is controlled to move laterally along the second direction; when the first seedling feeding tray 22A is controlled to move laterally along the second direction, the second seedling feeding 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 the first direction, the second seedling sending plate 22B moves laterally along the 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 maintain synchronization during the reciprocating transverse movement.

[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 feeding tray 22A and the second seedling feeding tray 22B to keep synchronization during the reciprocating transverse movement may include: controlling the first seedling feeding tray 22A and the second seedling feeding 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 when they move back and forth laterally can be: controlling the first seedling sending tray 22A and the second seedling sending tray 22B to keep starting synchronously when they move back and forth laterally, controlling the first seedling sending tray 22A and the second seedling sending tray 22B to keep accelerating synchronously when they move back and forth laterally, and controlling the first seedling sending tray 22A and the second seedling sending tray 22B to keep decelerating synchronously when they move back and forth laterally.

[0115] It should be noted that the present application does not limit the number of specific items for maintaining synchronization mentioned above, that is, it can be: when controlling the first seedling feeding tray 22A and the second seedling feeding tray 22B to move back and forth, only synchronous start-up, only synchronous acceleration, or only synchronous deceleration (while synchronous deceleration and synchronous acceleration are not required); or, when controlling the first seedling feeding tray 22A and the second seedling feeding tray 22B to move back and forth, synchronous start-up and synchronous acceleration are maintained (synchronous deceleration is not required); or, when controlling the first seedling feeding tray 22A and the second seedling feeding tray 22B to move back and forth, synchronous start-up and synchronous deceleration are maintained (synchronous acceleration is not required); or, when controlling the first seedling feeding tray 22A and the second seedling feeding tray 22B to move back and forth, synchronous acceleration and synchronous deceleration are maintained (synchronous start is not required); of course, it can also be that when controlling the first seedling feeding tray 22A and the second seedling feeding tray 22B to move back and forth, synchronous start-up, synchronous acceleration and synchronous 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 drone 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 drone 200 achieve posture balance, but the effect is not as good as the synchronization of start, acceleration and deceleration.

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

[0118] That is, in the seedling-throwing control method provided herein, the synchronized reciprocating lateral movement control of the two seedling-feeding trays 22 can be achieved by having one seedling-feeding tray 22 function as the master seedling-feeding tray 22 and the other seedling-feeding tray 22 function as the slave seedling-feeding tray 22. Specifically, the slave seedling-feeding tray 22 can operate based on the real-time position feedback from the master seedling-feeding tray 22. In short, the master seedling-feeding tray 22 transmits its current position to the slave seedling-feeding tray 22, which then controls its own lateral movement based on the real-time position feedback from the master seedling-feeding tray 22, thereby maintaining positional synchronization between the slave seedling-feeding tray 22 and the master seedling-feeding tray 22.

[0119] For ease of understanding, the following description uses the case where the current position of the main seedling delivery tray 22 is the first position on the left as an example. When the current real-time position of the main seedling delivery tray 22 is the first position on the left, the main seedling delivery tray 22 transmits the position information of the first position on the left to the slave seedling delivery tray 22, which then controls its movement to the first position on the right, which is opposite to the first position, based on the position information of the first position on the left.

[0120] Taking into account the problem of time delay when the main seedling delivery tray 22 sends the position 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 feedback from 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 feedback from 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 compensated position information is used to characterize the position error caused by the delay. For example, the compensated position information can be obtained by multiplying the rotation speed of the traverse motor of the seedling feeding 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 feeding tray 22A to move laterally along the first direction can be achieved by:

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

[0126] That is, the driving device 23 of the main seedling delivery tray 22 is operated 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 the given position of the main seedling delivery tray 22, so that the main seedling delivery tray 22 can be moved 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 transverse movement trajectory of the main seedling delivery tray 22, the main seedling delivery tray 22 is controlled to move laterally in the opposite direction.

[0127] It should be noted that the operation of the main seedling delivery tray 22 in the position control mode of its driving device 23 is only an example given in this application and is not a limitation of this application. In other embodiments, the main seedling delivery tray 22 may also operate in the speed mode or torque mode of its driving device 23. When the main seedling delivery tray 22 operates in the speed control mode or torque control mode of its driving device 23, its operating principle is the same as that of the position control mode, and this application will not elaborate on it here.

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

[0129] When the driving device 23 of the slave seedling delivery tray 22 is in the position control mode, 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, and the slave seedling delivery tray 22 is controlled to move laterally in the second direction according to the given position, and after the slave seedling delivery tray 22 moves to the end point of the transverse movement trajectory, the slave seedling delivery tray 22 is controlled to move in the reverse direction.

[0130] That is, the drive device 23 of the slave seedling feeding tray 22 can also operate in the position control mode. In this way, the slave seedling feeding tray 22 can obtain the given position of the slave seedling feeding tray 22 based on the real-time position feedback of the master seedling feeding tray 22. In this case, the slave seedling feeding tray 22 can be moved laterally in the second direction according to its given position to the end point of its lateral movement trajectory, and then the slave seedling feeding tray 22 can be controlled to move laterally in the opposite direction. The second direction is opposite to the first direction of the master seedling feeding tray 22.

[0131] It should be noted that the slave seedling feeding tray 22 can also operate in the speed control mode or torque control mode of its traverse motor. When the main seedling feeding tray 22 operates in the position control mode, it is best for the slave seedling feeding tray 22 to also operate in the position control mode; accordingly, when the main seedling feeding tray 22 operates in the speed control mode, it is best for the slave seedling feeding tray 22 to also operate in the speed control mode; when the main seedling feeding tray 22 operates in the torque control mode, it is best for the slave seedling feeding tray 22 to also operate in the torque control mode. In other words, the control modes of the main seedling feeding tray 22 and the slave seedling feeding tray 22 are preferably the same. This makes it easier for the slave seedling feeding tray 22 to receive the real-time position of the main seedling feeding tray 22 and control the traverse of the slave seedling feeding tray 22 based on the real-time position, which can alleviate the computing pressure of the control module 400. Of course, the control modes of the main seedling feeding tray 22 and the slave seedling feeding tray 22 can also be different.

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

[0133] The given position of the slave seedling feeding tray 22 is obtained based on the real-time position and the compensated position information fed back by the main seedling feeding 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 move back and forth, 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;

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

[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 300, so that the seedlings 310 are taken row by row and in batches, which can avoid the waste of the seedlings 310.

[0139] Among them, this 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, 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 determines whether the two seedling delivery trays 22 have reached the opposite ends of the load module 10 by using position signal recognition of the sensor. 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: Control the alarm to sound an alarm.

[0143] It should be noted that when initialization fails, at least one of the two seedling feeding trays 22 does not move to the end of its transverse trajectory. In this case, there may be a problem with the control parameter setting of at least one of the two seedling feeding trays 22, or there may be a problem with the hardware structure of the seedling throwing system 1000. Therefore, an alarm needs to be issued to remind the user to check. The method of issuing the alarm by the alarm device 700 is not limited in this application. It can be an audible or visual signal 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 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 one-to-one to the two seedling delivery trays 22; 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 loading module 10, seedling delivery tray 22 and seedling removal module 30 can be found in the above description, and the present application will not elaborate on the structural details.

[0147] The control module 400 is used to control the reciprocating horizontal movement of the seedling delivery tray 22 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 seedling blanket 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 motor 231 of each of the two seedling delivery trays 22, and to the drive source 31 of the seedling retrieval module 30, so as to control the movement 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 impose any specific restrictions.

[0148] It should be noted that when the control module 400 controls the two seedling feeding trays 22 to move back and forth, it should ensure that the two seedling feeding trays 22 maintain opposite movement 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 feeding trays 22, thereby improving the operating 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 rice 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 move back and forth.

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

[0152] For example, when the drive device 23 includes a single drive motor 231, the drive motor 231 is in transmission connection with each of the two seedling feeding trays 22, and is configured to drive the two seedling feeding trays 22 to simultaneously reciprocate and laterally move. In other words, when the drive device 23 includes only one drive motor 231, the drive motor 231 is configured to simultaneously drive the two seedling feeding trays 22 to reciprocate and laterally move. For example, the drive motor 231 can be positioned between the two seedling feeding trays 22, with each seedling feeding tray 22 being provided with a rack, and a gear being provided at the output end of the drive motor 231, with the two racks meshing with the gears at the output end of the drive motor 231.

[0153] Also, when the driving device 23 includes only one driving motor 231, please refer to Figure 9 and Figure 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 seedling delivery tray 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 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 mounted on the load module 10 and corresponds to the first magnet 510. When the drive motor 231 drives the seedling feeding tray 22 equipped with the first magnet 510 to one end point of its transverse trajectory, the other seedling feeding tray 22 simultaneously moves to the other end point of its transverse trajectory. At this point, the first sensor 610 near the first magnet 510 receives the magnetic field signal from the first magnet 510, indicating a valid signal. However, the second sensor 620 does not receive the magnetic field signal from the second magnet 520, indicating a valid signal. Similarly, when the drive motor 231 drives the seedling feeding tray 22 equipped with the second magnet 520 to one end point of its transverse trajectory, the other seedling feeding tray 22 simultaneously moves to the other end point of its transverse trajectory. At this point, the second sensor 620 near the second magnet 520 receives the magnetic field signal from the second magnet 520, indicating a valid signal. However, the first sensor 610 does not receive the magnetic field signal of the first magnet 510 and 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 initialization fails, it may be that the first sensor 610 or the second sensor 620 is abnormal, or the magnetic properties of the first magnet 510 or the second magnet 520 are abnormal, or the installation positions of the two seedling feeding trays 22 or the two sensors are incorrect. In this case, the user needs to check.

[0157] For example, when the driving device 23 comprises two driving motors 231; Figure 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 move back and forth.

[0158] That is, each seedling delivery tray 22 is 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 feeding tray 22 is equipped with a driving motor 231, please refer to Figure 10 and Figure 11As shown, the seedling throwing system 1000 further comprises two first magnets 510, two second magnets 520, two first sensors 610 and two second sensors 620. Wherein one end of each seedling feeding disc 22 is respectively provided with a first magnet 510; the other end of each seedling feeding disc 22 is respectively provided with a second magnet 520, and the first magnets 510 of the two seedling feeding discs 22 are away from each other; the two first sensors 610 are both arranged on the load module 10, and the two first sensors 610 and the two first magnets 510 correspond to each other one by one; the two second sensors 620 are both arranged on the load module 10, and the two second sensors 620 and the two second magnets 520 correspond to each other one by one.

[0160] Suppose the seedling feeding disc 22 comprises a first seedling feeding disc 22A and a second seedling feeding disc 22B, at this time, if the initialization step in the foregoing is needed to be performed, the two driving motors 231 drive the first seedling feeding disc 22A and the second seedling feeding disc 22B to move in opposite directions, and when the signal of any one first sensor 610 (or second sensor 620) is valid, the corresponding driving motor 231 stops moving, and when the signal of the other first sensor 610 (or second sensor 620) is also valid, the two seedling feeding discs 22 both stop; at this time, the two driving motors 231 drive the first seedling feeding disc 22A and the second seedling feeding disc 22B to move in opposite directions, and if the two second sensors 620 simultaneously receive valid signals, it is determined that the initialization is successful; otherwise, it is determined that the initialization fails.

[0161] In optional embodiments, please refer to Figure 11 As shown, the seedling throwing system 1000 provided by the application further comprises an alarm 700; the alarm 700 is used to issue an alarm when any one magnet moves to the end point of the transverse movement track close to the corresponding sensor of the magnet, and the corresponding sensor of the magnet does not detect a position signal.

[0162] When any one magnet moves to the end point of the transverse movement track close to the corresponding sensor of the magnet, if the corresponding sensor of the magnet does not detect a position signal, it may be that the initialization fails, or that the sensor abnormally, or that the magnet abnormally, or that the setting position of the magnet or the sensor has a problem. In any of the above cases, the alarm 700 can issue an alarm.

[0163] It should be noted that, whether the driving device 23 comprises one driving motor 231 or two driving motors 231, when any one magnet moves to the end point of the transverse movement track close to the corresponding sensor of the magnet, and the corresponding sensor of the magnet does not detect a position signal, the alarm 700 can issue an alarm.

[0164] Further, in the embodiment, the two seedling conveying plates 22 include a main seedling conveying plate 22 and a slave seedling conveying plate 22, in order to facilitate obtaining the real-time position of the main seedling conveying plate 22, thereby providing reference data for the movement of the slave seedling conveying plate 22, the seedling throwing system 1000 provided by the application further includes a rotor position sensor 800.

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

[0166] The seedling throwing control method and the seedling throwing system 1000 provided by the application can offset the impact force of the two seedling conveying plates 22 on the unmanned aerial vehicle 200 in the process of lateral movement, so that the body of the unmanned aerial vehicle 200 does not tilt when the unmanned aerial vehicle 200 performs aerial seed throwing, the attitude balance of the unmanned aerial vehicle 200 is ensured, and the safety and stability of flight during aerial seed throwing are improved.

[0167] The above is only a specific embodiment of the application, but the protection scope of the application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the application, which should be covered within the protection scope of the application. Therefore, the protection scope of the application should be subject to 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 retrieval 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 seedling blanket carried on the seedling delivery tray and then throw them out; The two seedling delivery trays move in opposite directions when performing reciprocating transverse movement to ensure the posture balance of the UAV.

2. The method according to claim 1, characterized in that The two seedling delivery trays include a first seedling delivery tray and a second seedling delivery tray, and controlling the seedling delivery trays to move back and forth includes: When the first seedling sending tray is controlled to move laterally along the first direction, the second seedling sending tray is controlled to move laterally along the 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.

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 feeding tray serves as a master seedling feeding tray, and the second seedling feeding tray serves as a slave seedling feeding tray; and the step of controlling the first seedling feeding tray and the second seedling feeding tray to maintain synchronization when they move back and forth horizontally comprises: 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 feeding tray according to the real-time position feedback of the master seedling feeding 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 based on a rotor position sensor provided 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 feeding tray to move laterally in 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 feeding tray to move laterally along the second direction comprises: When the driving device of the slave seedling feeding tray is in the position control mode, the given position of the slave seedling feeding tray is obtained according to the real-time position feedback of the main seedling feeding tray, the slave seedling feeding tray is controlled to move laterally in the second direction according to the given position, and the slave seedling feeding tray is controlled to move in the reverse 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 feeding tray according to the real-time position fed back by the master seedling feeding tray comprises: The given position of the slave seedling feeding tray is obtained according to the real-time position and compensated position information fed back by the master seedling feeding tray, and the compensated position information is used to characterize the position error caused by the delay.

11. The method according to claim 1, wherein Before controlling the seedling delivery tray to move back and forth, the method further includes: Controlling the two seedling delivery trays to move horizontally to opposite ends of the load module; It is determined whether the two seedling delivery trays have both reached the opposite ends of the load module. If so, it is confirmed that the initialization is successful; otherwise, it is determined that the initialization has failed.

12. The method according to claim 11, characterized in that After confirming that the initialization has failed, the method further includes: Control the alarm to sound an alarm.

13. A seedling throwing system, characterized in that: include: A load module, the load module being used to connect to the drone; Two seedling delivery trays, which are arranged on opposite sides of the load module and are respectively used to carry blanket seedlings; Two seedling taking modules, the two seedling taking modules are respectively arranged on the load module, and the two seedling taking modules correspond one to one with the two seedling delivery trays; The control module is used to control the seedling delivery tray to move back and forth when the drone performs the 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 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 sending plates to move back and forth.

15. The seedling throwing system according to claim 14, characterized in that: The driving device includes: two driving motors; the two driving motors are respectively connected to the two seedling sending trays in a one-to-one transmission manner, and the two driving motors are used to respectively drive the corresponding seedling sending trays to move back and forth.

16. The seedling throwing system according to claim 15, characterized in that: The seedling throwing system also includes: Two first magnets, one of the ends of each of the seedling delivery trays being 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 spaced apart 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 in a one-to-one manner; Two second sensors are both arranged on the load module, and the two second sensors correspond to the two second magnets in a one-to-one manner.

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 drive 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 based on the position information obtained by the rotor position sensor, and control the lateral movement of the slave seedling delivery tray based on the position information.

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

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