Seedling throwing mechanism and unmanned aerial vehicle seedling throwing system

Abstract

Embodiments of the present application provide a seedling throwing mechanism and an unmanned aerial vehicle seedling throwing system, and relate to the technical field of seedling throwing. The seedling throwing mechanism comprises a load module, a plurality of seedling feeding modules and a seedling taking module. The load module is arranged on an unmanned aerial vehicle. The plurality of seedling feeding modules are movably arranged on the load module. The seedling taking module is arranged on the load module. The seedling taking module is used to separate seedlings from the seedling blanket on the seedling feeding module and throw the seedlings out by centrifugal force and / or ejection force. The load module of the seedling throwing mechanism can be installed on the unmanned aerial vehicle, so that the unmanned aerial vehicle can throw seedlings by using the seedling blanket.

Description

TECHNICAL FIELD

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

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

[0003] In the prior art, the throwing seedling system carried by the UAV generally uses plug seedlings for throwing seedlings, and there is no throwing seedling system using blanket seedlings for throwing seedlings. SUMMARY

[0004] The present application provides a throwing seedling mechanism and an unmanned aerial vehicle (UAV) throwing seedling system, which can realize throwing seedlings by the UAV using blanket seedlings.

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

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

[0007] a load module, configured to be arranged on an unmanned aerial vehicle (UAV);

[0008] a plurality of seedling feeding modules, movably arranged on the load module; and

[0009] a seedling taking module, arranged on the load module, configured to separate a seedling from blanket seedlings on the seedling feeding module and throw out the seedling by centrifugal force and / or ejection force.

[0010] In an optional embodiment, the number of the seedling feeding modules is two, and the moving direction of one of the seedling feeding modules is opposite to that of the other seedling feeding module.

[0011] In an optional embodiment, the seedling feeding modules are arranged opposite to each other or in the same direction.

[0012] In an optional embodiment, the number of the seedling feeding modules is at least three, and the at least three seedling feeding modules are distributed around the same center.

[0013] In an optional embodiment, the throwing seedling mechanism further comprises a driving device, arranged on the load module, configured to drive the plurality of seedling feeding modules to move laterally.

[0014] In an optional embodiment, the number of the driving devices is two, and each of the two driving devices is used to drive the two seedling feeding modules to move laterally.

[0015] In an optional embodiment, the number of the driving devices is one, and the driving device is used to drive the two seedling feeding modules to move laterally simultaneously.

[0016] In an optional embodiment, the driving device comprises a power source, a first gear, a first rack and a second rack, the first rack is arranged in one of the seedling feeding modules, the second rack is arranged in the other seedling feeding module, the power source is connected with the first gear, and the first gear is engaged with the first rack and the second rack simultaneously.

[0017] The power source is used to drive the first rack and the second rack to move through the first gear, so as to drive the two seedling feeding modules to move laterally.

[0018] In an optional embodiment, the driving device comprises a power source, a second gear and a third rack, the third rack is arranged in the seedling feeding module, the power source is connected with the second gear, and the second gear is engaged with the third rack.

[0019] The seedling feeding mechanism further comprises a position sensor, the position sensor comprises a Hall sensor and a magnetic element, a plurality of mounting holes are arranged on the third rack, the magnetic element is arranged in one of the mounting holes, and the Hall sensor is arranged in the load module; or, the Hall sensor is arranged in one of the mounting holes, and the magnetic element is arranged in the load module.

[0020] In an optional embodiment, the seedling feeding mechanism further comprises a position sensor, the position sensor is arranged in the load module, and the position sensor is used to detect the position of the seedling feeding module.

[0021] In an optional embodiment, the position sensor comprises a first Hall sensor, a first magnetic element and a second magnetic element, the first magnetic element and the second magnetic element are arranged separately in the load module, and the first Hall sensor is arranged in the seedling feeding module; the first Hall sensor is used to sense the first magnetic element or the second magnetic element.

[0022] Or, the first magnetic element and the second magnetic element are arranged separately in the seedling feeding module, the first Hall sensor is arranged in the load module, and the first Hall sensor is used to sense the first magnetic element or the second magnetic element.

[0023] In an optional embodiment, the position sensor comprises a third magnetic piece, a second Hall sensor and a third Hall sensor, the second Hall sensor and the third Hall sensor are arranged separately on the load module, and the third magnetic piece is arranged on the seedling feeding module; the second Hall sensor and the third Hall sensor are both used for sensing the third magnetic piece.

[0024] Alternatively, the second Hall sensor and the third Hall sensor are arranged separately on the seedling feeding module, the third magnetic piece is arranged on the load module, and the second Hall sensor and the third Hall sensor are both used for sensing the third magnetic piece.

[0025] In an optional embodiment, the seedling throwing mechanism further comprises a buffer piece arranged on the load module, and the buffer piece is used for elastically abutting against the seedling feeding module.

[0026] In a second aspect, the present application provides a unmanned aerial vehicle seedling throwing system, comprising a unmanned aerial vehicle and the seedling throwing mechanism according to any one of the preceding embodiments, and the load module is mounted on the unmanned aerial vehicle.

[0027] The seedling throwing mechanism and the unmanned aerial vehicle seedling throwing system provided by the embodiments of the present application have the following beneficial effects, for example:

[0028] The present application provides a seedling throwing mechanism, which comprises a load module, a plurality of seedling feeding modules and a seedling taking module, the load module is arranged on a unmanned aerial vehicle, the plurality of seedling feeding modules are movably arranged on the load module, and the seedling taking module is arranged on the load module, the seedling taking module is used for separating seedlings from seedling mats on the seedling feeding modules and throwing out by centrifugal force and / or ejection force, the load module of the seedling throwing mechanism can be mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle can throw seedlings by using seedling mats.

[0029] The present application provides a unmanned aerial vehicle seedling throwing system, which comprises a unmanned aerial vehicle and the seedling throwing mechanism described above, and the load module is mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle seedling throwing system has all the functions of the seedling throwing mechanism described above. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0031] Figure 1 A schematic diagram of the unmanned aerial vehicle seedling throwing system provided in the embodiments of the present application;

[0032] Figure 2A top view of the unmanned aerial vehicle seed throwing system provided in the embodiments of the present application;

[0033] Figure 3 A side view of the unmanned aerial vehicle seed throwing system provided in the embodiments of the present application;

[0034] Figure 4 A schematic view of two seed taking modules provided in the embodiments of the present application and arranged in the same direction;

[0035] Figure 5 A schematic view of three seed taking modules provided in the embodiments of the present application and installed in the load module;

[0036] Figure 6 A schematic view of four seed taking modules provided in the embodiments of the present application and installed in the load module;

[0037] Figure 7 A schematic view of the driving device provided in the embodiments of the present application;

[0038] Figure 8 A schematic view of the buffer, the Hall inductor and the magnetic element provided in the embodiments of the present application;

[0039] Figure 9 A schematic view of the conveying device and the mounting port provided in the embodiments of the present application.

[0040] Icon: 1000-seed throwing mechanism; 100-load module; 200-seed taking module; 201-mounting port; 300-seed taking module; 310-driving source; 320-tool bit; 400-driving device; 410-first gear; 420-first rack; 430-second rack; 440-power element; 450-second gear; 460-third rack; 461-mounting hole; 500-conveying device; 510-conveying motor; 520-conveying element; 10-buffer; 20-Hall inductor; 30-magnetic element; 2000-unmanned aerial vehicle. DETAILED DESCRIPTION

[0041] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings 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 drawings herein can be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the application.

[0043] It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0044] In the description of the application, it should be noted that if the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the application is used, it is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0045] In addition, if the terms "first", "second" and the like appear, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0046] It should be noted that the features in the embodiments of the application can be combined with each other without conflict.

[0047] As mentioned in the background, for the mechanized planting of rice, there are only two solutions on the market, rice transplanter and rice thrower, and both of them rely on ground-riding agricultural machinery in the prior art. For the rice thrower, a common way is to use a seedling tray with independent holes to plant plug seedlings, the seedling tray has independent holes to separate multiple seedlings, and the rice thrower throws the relatively independent seedlings in the tray. This method has high requirements for planting and is not widely popularized.

[0048] In the prior art, the unmanned aerial vehicle-mounted throwing system generally uses plug seedlings for throwing, and there is no throwing system using carpet seedlings for throwing.

[0049] In view of this, please refer to Figures 1-9 The throwing mechanism 1000 and the unmanned aerial vehicle throwing system provided in the embodiments of the application can solve this problem, which will be described in detail below.

[0050] Please refer to Figures 1-3 The application provides an unmanned aerial vehicle throwing system, which comprises an unmanned aerial vehicle 2000 and a throwing mechanism 1000, and the load module 100 (described below) of the throwing mechanism 1000 is installed on the unmanned aerial vehicle 2000.

[0051] The seedling throwing mechanism 1000 can use the blanket seedlings to throw seedlings during the flight of the unmanned aerial vehicle 2000, thereby realizing that the unmanned aerial vehicle 2000 can use the blanket seedlings to throw seedlings.

[0052] Specifically, the seedling throwing mechanism 1000 comprises a load module 100, a plurality of seedling feeding modules 200, and a seedling taking module 300. The load module 100 is arranged on the unmanned aerial vehicle 2000. The plurality of seedling feeding modules 200 are movably arranged on the load module 100. The seedling taking module 300 is arranged on the load module 100. The seedling taking module 300 is used to separate the seedlings from the blanket seedlings on the seedling feeding module 200 and then throw the seedlings out by centrifugal force and / or ejection force. The load module 100 of the seedling throwing mechanism 1000 can be installed on the unmanned aerial vehicle 2000, thereby realizing that the unmanned aerial vehicle 2000 uses the blanket seedlings to throw seedlings.

[0053] Specifically, the seedling taking module 300 can separate the seedlings from the blanket seedlings on the seedling feeding module 200 and then throw the seedlings out by centrifugal force, or the seedling taking module 300 can throw the seedlings out by the elastic member.

[0054] In other embodiments, the seedling throwing mechanism 1000 can also throw the separated seedlings out by the combined action of centrifugal force and ejection force.

[0055] It is easy to understand that the unmanned aerial vehicle 2000 can carry the seedling throwing mechanism 1000 to perform the seedling throwing operation. The seedling feeding module 200 is used to convey the blanket seedlings (not shown in the figure), the seedling taking module 300 is used to separate the seedlings from the blanket seedlings, and then the seedlings are thrown out, thereby realizing the flight seedling throwing operation of the blanket seedlings.

[0056] 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.

[0057] In this embodiment, the unmanned aerial vehicle 2000 is a rotor unmanned aerial vehicle, specifically a four-rotor unmanned aerial vehicle. Of course, it can also be a single-rotor unmanned aerial vehicle, a double-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, etc.

[0058] The unmanned aerial vehicle 2000 can automatically operate according to the preset path, flight speed, attitude, etc., or be manually controlled by an operator.

[0059] The load module 100 of the seedling throwing mechanism 1000 is detachably carried on the lower part of the unmanned aerial vehicle 2000, that is, the unmanned aerial vehicle 2000 and the seedling throwing mechanism 1000 adopt an upper and lower split design. The unmanned aerial vehicle 2000 serves as a mobile platform, and the seedling throwing mechanism 1000 is designed in a split manner.

[0060] In other words, the seed throwing mechanism 1000 is an independent structure which does not depend on the body frame of the unmanned aerial vehicle 2000. Based on this type, the corresponding device can be replaced according to the actual operation demand in the specific operation scene.

[0061] For example, after the seed throwing mechanism 1000 is disassembled, the sowing device is installed to realize the sowing of pesticides, fertilizers, seeds and the like. Similarly, the seed throwing mechanism 1000 can be disassembled, and the surveying and mapping device, the spraying device and the like are installed.

[0062] It should be noted that in the embodiment, the load module 100 is the foot stand of the unmanned aerial vehicle 2000.

[0063] It should be noted that the plurality of seed feeding modules 200 are movably arranged on the load module 100, which can stabilize the center of gravity of the seed throwing mechanism 1000, avoid the offset force brought to the unmanned aerial vehicle 2000 when the single seed feeding module 200 moves, and ensure the flight stability of the unmanned aerial vehicle 2000.

[0064] Specifically, in the embodiment, please refer to Figure 2 , the number of the seed feeding modules 200 is two, and the moving direction of one seed feeding module 200 is opposite to that of the other seed feeding module 200, wherein the arrow direction can be understood as the moving direction of the two seed feeding modules 200, and the opposite moving directions can offset the offset force brought to the unmanned aerial vehicle 2000 when the seed feeding module 200 moves horizontally, and ensure the flight stability of the unmanned aerial vehicle 2000.

[0065] In the embodiment, as shown in Figure 3 , the two seed feeding modules 200 are arranged opposite to each other. Of course, in other embodiments, as shown in Figure 4 , the two seed feeding modules 200 can be arranged in the same direction.

[0066] Of course, in other embodiments, the number of the seed feeding modules 200 can also be at least three, and the at least three seed feeding modules 200 are distributed around the same center.

[0067] For example, please refer to Figure 5 , the number of the seed feeding modules 200 is three, and the three seed feeding modules 200 can move clockwise or counterclockwise at the same time, which can stabilize the center of gravity of the seed throwing mechanism 1000 and ensure the flight stability of the unmanned aerial vehicle 2000.

[0068] Or, please refer to Figure 6 , the number of the seed feeding modules 200 is four, and the horizontal moving directions of the opposite two seed feeding modules 200 are opposite, which can stabilize the center of gravity of the seed throwing mechanism 1000 and ensure the flight stability of the unmanned aerial vehicle 2000, for example, in Figure 6In the embodiment, the two seedling feeding modules 200 move in opposite directions.

[0069] Please refer to Figure 8 and in combination with Figure 3 In order to facilitate the driving of the seedling feeding module 200 to move laterally, the seedling throwing mechanism 1000 further comprises a driving device 400, which is arranged on the load module 100, and is used to drive the seedling feeding module 200 to move laterally.

[0070] Specifically, the driving device 400 can drive the two seedling feeding modules 200 to move in opposite directions. In the embodiment, the number of the driving device 400 is two, and the two driving devices 400 are respectively used to drive the two seedling feeding modules 200 to move laterally.

[0071] Each driving device 400 comprises a power member 440, a second gear 450 and a third rack 460, the third rack 460 is arranged on the seedling feeding module 200, the power member 440 and the second gear 450 are connected, and the second gear 450 and the third rack 460 are engaged. The power member 440 can be a driving motor.

[0072] It is easy to understand that by rotating or reversing the output end of the power member 440, the lateral movement directions of the two seedling feeding modules 200 can be opposite.

[0073] In addition, the driving device 400 can also adopt a mechanism of synchronous belt and motor cooperation or a mechanism of screw rod and motor cooperation to realize the lateral movement of the two seedling feeding modules 200. For example, the synchronous belt is fixedly connected with the seedling feeding module 200, the motor drives the synchronous belt to move, and the seedling feeding module 200 moves laterally.

[0074] Alternatively, the screw rod mechanism is connected with the seedling feeding module 200, and the motor drives the screw rod mechanism to move, so as to realize the lateral movement of the seedling feeding module 200.

[0075] It should be noted that the seedling feeding module 200 can comprise one seedling feeding disc or a plurality of seedling feeding discs, and the plurality of seedling feeding discs are arranged side by side, and the seedling feeding module 200 can be provided with a mat seedling.

[0076] Of course, please refer to Figure 7 In other embodiments, the number of the driving device 400 can also be one, and the driving device 400 is used to drive the two seedling feeding modules 200 to move laterally at the same time.

[0077] Specifically, the driving device 400 comprises a power source (not shown in the figure), a first gear 410, a first rack 420 and a second rack 430, the power source can be selected from a motor, the first rack 420 is arranged in one of the seedling feeding modules 200, the second rack 430 is arranged in the other seedling feeding module 200, the power source is connected with the first gear 410, and the first gear 410 is engaged with the first rack 420 and the second rack 430 at the same time, wherein the power source is used to drive the first rack 420 and the second rack 430 to move through the first gear 410, so as to drive the two seedling feeding modules 200 to move transversely in opposite directions.

[0078] The first gear 410 is engaged with the first rack 420 and the second rack 430 at the same time, the side of the first rack 420 with the meshing teeth is opposite to the side of the second rack 430 with the meshing teeth, the output end of the power source is rotated forward or reversely, the first gear 410 is driven to rotate, and then the transverse moving directions of the two seedling feeding modules 200 are opposite.

[0079] Please refer to Figure 8 In order to conveniently buffer the limit position of the third rack 460 in the reciprocating transverse movement process and slow down the seedling feeding module 200 at the same time, the limit position can be understood as the position of the third rack 460 when the seedling feeding module 200 reaches the maximum transverse moving distance in the transverse moving direction, and it can be understood as the limit position of the engagement between the second gear 450 and the third rack 460.

[0080] The seedling throwing mechanism 1000 further comprises a buffer 10, the buffer 10 is arranged in the load module 100, and the buffer 10 is used to elastically abut against the seedling feeding module 200, specifically, the buffer 10 is used to elastically abut against the third rack 460.

[0081] Two buffers 10 are distributed on the two sides of each third rack 460, that is, the limit position in the reciprocating transverse movement process of the third rack 460 can be buffered, and it should be noted that in the embodiment, the third rack 460 is slidably connected to the load module 100, specifically, the load module 100 has a sliding rod, and the third rack 460 is sleeved outside the sliding rod.

[0082] In the embodiment, the buffer 10 is a compression spring structure, of course, in other embodiments, the buffer 10 can also be a buffer with elasticity, for example, a buffer structure made of rubber.

[0083] In addition, in order to conveniently adjust the rotating direction of the output end of the power member 440 when the third rack 460 moves to the limit position in the reciprocating transverse movement process, the seedling throwing mechanism 1000 further comprises a position sensor, the position sensor is arranged in the load module 100, and the position sensor is used to detect the position of the seedling feeding module 200.

[0084] Specifically, the position sensor comprises the Hall sensor 20 and the magnetic element 30, each third rack 460 is provided with a plurality of mounting holes 461, the magnetic element 30 is arranged in one of the mounting holes 461, and the Hall sensor 20 is arranged on the load module 100.

[0085] Specifically, in the embodiment, each third rack 460 is provided with a plurality of mounting holes 461 at two ends, and one magnetic element 30 is arranged in each mounting hole 461 at the two ends of the third rack 460. The magnetic element 30 can be a magnet.

[0086] Each third rack 460 is provided with a Hall sensor 20 at each side, so that the Hall sensor 20 can obtain whether the third rack 460 is in the limit position through the magnetic field intensity of the magnetic element 30 close to the Hall sensor 20. If the third rack 460 is in the limit position, the Hall sensor 20 can feed back a signal to the power component 440, and adjust the rotation direction of the output end of the power component 440, so that the seedling feeding module 200 moves reversely.

[0087] Of course, the Hall sensor 20 can also be arranged in one of the mounting holes 461, and the magnetic element 30 can be arranged on the load module 100, that is, each third rack 460 is provided with a magnetic element 30 at each side, so that the Hall sensor 20 can obtain whether the third rack 460 is in the limit position through the magnetic field intensity of the magnetic element 30 close to the Hall sensor 20. If the third rack 460 is in the limit position, the Hall sensor 20 can feed back a signal to the power component 440, and adjust the rotation direction of the output end of the power component 440, so that the seedling feeding module 200 moves reversely.

[0088] In other embodiments, the position sensor can also be an optical sensor to obtain whether the third rack 460 reaches the limit position. For example, the third rack 460 reaches the limit position in the transverse movement process, triggers the optical sensor, and the optical sensor feeds back a signal to the driving component, and adjusts the rotation direction of the output end of the driving component.

[0089] Of course, in other embodiments, the position sensor can comprise a first Hall sensor, a first magnetic element and a second magnetic element. The first magnetic element and the second magnetic element are both magnets, the first magnetic element and the second magnetic element are arranged separately on the load module 100, the first Hall sensor is arranged on the seedling feeding module 200, and the first Hall sensor is used to sense the first magnetic element or the second magnetic element.

[0090] For example, during the lateral movement of the seedling delivery module 200, it will approach the first magnetic component or the second magnetic component. Then, the first Hall sensor can obtain whether the seedling delivery module 200 is in the extreme position by the magnetic field strength of the first magnetic component or the second magnetic component. If it is in the extreme position, the first Hall sensor can feed back the signal to the power component 440 and make the output end of the power component 440 adjust the rotation direction, so that the seedling delivery module 200 moves in the opposite direction.

[0091] Alternatively, the first and second magnetic components can be separately disposed in the seedling delivery module 200, and the first Hall sensor can be disposed in the load module 100. The first Hall sensor is used to sense the first or second magnetic component. During the lateral movement of the seedling delivery module 200, the first Hall sensor on the seedling delivery module 200 will approach the first or second magnetic component. Then, the first Hall sensor can obtain whether the seedling delivery module 200 is in the limit position by the magnetic field strength of the first or second magnetic component. If it is in the limit position, the first Hall sensor can feed back the signal to the power component 440 and make the output end of the power component 440 adjust the rotation direction, so that the seedling delivery module 200 moves in the opposite direction.

[0092] In other embodiments, the position sensor may include a third magnetic element, a second Hall sensor, and a third Hall sensor, with the second and third Hall sensors separately disposed in the load module 100 and the third magnetic element disposed in the seedling delivery module 200. Both the second and third Hall sensors are used to sense the third magnetic element.

[0093] For example, during the lateral movement of the seedling delivery module 200, the second Hall sensor and the third Hall sensor will approach the third magnetic component. The second Hall sensor and the third Hall sensor can then determine whether the seedling delivery module 200 is in a limit position by the magnetic field strength of the third magnetic component. If it is in a limit position, the second Hall sensor or the third Hall sensor can feed the signal back to the power component 440, and the output of the power component 440 will adjust the rotation direction, causing the seedling delivery module 200 to move in the opposite direction.

[0094] Alternatively, the second Hall sensor and the third Hall sensor may be separately disposed in the seedling delivery module 200, and the third magnetic element may be disposed in the load module 100. Both the second Hall sensor and the third Hall sensor are used to sense the third magnetic element.

[0095] During the lateral movement of the seedling delivery module 200, the third magnetic component approaches the second or third Hall sensor. The second and third Hall sensors can then determine whether the seedling delivery module 200 is in a limit position by the magnetic field strength of the third magnetic component. If it is in a limit position, the second or third Hall sensor can feed the signal back to the power component 440, and the output of the power component 440 can be adjusted to rotate in the opposite direction, causing the seedling delivery module 200 to move in the opposite direction.

[0096] In this embodiment, the seedling picking module 300 includes a drive source 310 and a cutter head 320. The drive source 310 is connected to the cutter head 320 and is used to drive the cutter head 320 to separate the seedlings on the seedling delivery module 200 and throw the separated seedlings out by centrifugal force. The drive source 310 includes a cutter head motor and a transmission box. The cutter head motor is connected to the transmission box, and the transmission box is connected to the cutter head 320. The cutter head motor is used to drive the transmission box to drive the cutter head 320 to separate the seedlings. Here, the cutter head 320 is a seedling needle.

[0097] Of course, there can be multiple cutter heads 320, all connected to the same transmission box, which can be a gearbox, linkage mechanism, sprocket mechanism, or pulley mechanism. The cutter head motor of the drive source 310 can also be replaced by a pneumatic motor, gasoline engine, etc.

[0098] In addition, the seedling throwing mechanism 1000 also includes a conveying device 500, which includes a conveying motor 510 and a conveying component 520. The conveying motor 510 is connected to the conveying component 520 and is used to drive the conveying component 520 to move. The seedling delivery module 200 is provided with an installation port 201.

[0099] The conveying component 520 of the conveying device 500 is located inside the mounting port 201 and drives the seedlings to move toward the seedling picking module 300 through the mounting port 201.

[0100] The conveyor 520 can convey rollers (e.g., serrated rollers) to contact the seedlings and prevent them from sliding freely.

[0101] According to the drone rice-throwing system provided in this embodiment, the working principle of the drone rice-throwing system is as follows:

[0102] When the UAV 2000 is in flight, the drive source 310 drives multiple cutter heads 320 to rotate at high speed. The seedlings on the seedling delivery module 200 of the cutter head 320 are separated from the seedlings, causing the seedlings to rotate and be thrown out. At the same time, the two seedling delivery modules 200 move laterally in opposite directions during flight, causing the seedlings to move left and right, so that the seedlings are cut and thrown out row by row and clump by clump.

[0103] After a row of seedlings in the left and right directions of the seedbed is cut, the entire seedbed moves downward under the action of gravity and the driving force of the conveying device 500. Thus, during the process of the seedling delivery module 200 moving laterally in the opposite direction, the seedlings are cut and thrown out row by row by bunch by bunch by the seedling picking module 300. This process is repeated until all the seedbed seedlings have been cut and thrown out, and then the drone 2000 returns to the starting point.

[0104] In summary, the seedling throwing mechanism 1000 includes a load module 100, multiple seedling delivery modules 200, and a seedling picking module 300. The load module 100 is installed on the drone 2000. The multiple seedling delivery modules 200 are movably installed on the load module 100. The seedling picking module 300 is installed on the load module 100. The seedling picking module 300 is used to separate the seedlings from the seedbed on the seedling delivery module 200 and throw them out by centrifugal force and / or ejection force. The load module 100 of the seedling throwing mechanism 1000 can be installed on the drone 2000, realizing the drone 2000 to throw seedlings using the seedbed.

[0105] The unmanned aerial vehicle (UAV) rice-throwing system includes a UAV 2000 and the aforementioned rice-throwing mechanism 1000. The load module 100 is installed on the UAV 2000. The UAV rice-throwing system has all the functions of the aforementioned rice-throwing mechanism 1000.

[0106] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A rice seedling throwing mechanism, characterized in that, include: A load module (100) is provided for installation on a drone (2000); Multiple seedling delivery modules (200) are movably disposed on the load module (100); and A seedling picking module (300) is disposed on the load module (100). The seedling picking module (300) is used to separate the seedlings from the seedlings on the seedling delivery module (200) and throw them out by centrifugal force and / or ejection force.

2. The rice-throwing mechanism according to claim 1, characterized in that, There are two seedling delivery modules (200), one of which moves in the opposite direction to the other.

3. The rice-throwing mechanism according to claim 1, characterized in that, The seedling delivery modules (200) are arranged opposite each other or in the same direction.

4. The rice-throwing mechanism according to claim 1, characterized in that, The number of seedling delivery modules (200) is at least three, and at least three seedling delivery modules (200) are distributed around the same center.

5. The rice-throwing mechanism according to claim 1, characterized in that, The seedling throwing mechanism also includes a drive device (400), which is disposed on the load module (100) and is used to drive the plurality of seedling delivery modules (200) to move laterally.

6. The rice-throwing mechanism according to claim 5, characterized in that, The number of driving devices (400) is two, and the two driving devices (400) are respectively used to drive the two seedling delivery modules (200) to move laterally.

7. The rice-throwing mechanism according to claim 5, characterized in that, The number of driving devices (400) is one, and the driving device (400) is used to drive the two seedling delivery modules (200) to move laterally at the same time.

8. The rice-throwing mechanism according to claim 7, characterized in that, The drive device (400) includes a power source, a first gear (410), a first rack (420), and a second rack (430). The first rack (420) is disposed in one of the seedling delivery modules (200), and the second rack (430) is disposed in the other seedling delivery module (200). The power source is connected to the first gear (410), and the first gear (410) meshes with both the first rack (420) and the second rack (430). The power source is used to drive the first rack (420) and the second rack (430) to move through the first gear (410), so as to drive the two seedling delivery modules (200) to move laterally.

9. The rice-throwing mechanism according to claim 5, characterized in that, The drive device (400) includes a power component (440), a second gear (450), and a third rack (460). The third rack (460) is mounted on the seedling delivery module (200). The power component (440) is connected to the second gear (450), and the second gear (450) meshes with the third rack (460). The rice-throwing mechanism further includes a position sensor, which includes a Hall sensor (20) and a magnetic element (30). The third rack (460) is provided with multiple mounting holes (461). The magnetic element (30) is disposed in one of the mounting holes (461), and the Hall sensor (20) is disposed on the load module (100); or, the Hall sensor (20) is disposed in one of the mounting holes (461), and the magnetic element (30) is disposed on the load module (100).

10. The rice-throwing mechanism according to claim 1, characterized in that, The seedling throwing mechanism also includes a position sensor, which is disposed on the load module (100) and is used to detect the position of the seedling delivery module (200).

11. The rice-throwing mechanism according to claim 10, characterized in that, The position sensor includes a first Hall sensor, a first magnetic element, and a second magnetic element. The first magnetic element and the second magnetic element are disposed separately in the load module (100). The first Hall sensor is disposed in the seedling delivery module (200). The first Hall sensor is used to sense the first magnetic element or the second magnetic element. Alternatively, the first magnetic element and the second magnetic element are disposed separately in the seedling delivery module (200), and the first Hall sensor is disposed in the load module (100). The first Hall sensor is used to sense the first magnetic element or the second magnetic element.

12. The rice-throwing mechanism according to claim 10, characterized in that, The position sensor includes a third magnetic element, a second Hall sensor, and a third Hall sensor. The second Hall sensor and the third Hall sensor are disposed separately in the load module (100), and the third magnetic element is disposed in the seedling delivery module (200). Both the second Hall sensor and the third Hall sensor are used to sense the third magnetic element. Alternatively, the second Hall sensor and the third Hall sensor are disposed separately in the seedling delivery module (200), and the third magnetic element is disposed in the load module (100). Both the second Hall sensor and the third Hall sensor are used to sense the third magnetic element.

13. The rice-throwing mechanism according to claim 1, characterized in that, The seedling throwing mechanism also includes a buffer (10), which is disposed on the load module (100) and is used to elastically abut against the seedling delivery module (200).

14. A drone-based rice transplanting system, characterized in that, Includes a drone (2000) and a rice-throwing mechanism as described in any one of claims 1-13, wherein the load module (100) is mounted on the drone (2000).

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