Unmanned aerial vehicle and unmanned aerial vehicle seedling throwing control method

Abstract

The invention discloses an unmanned aerial vehicle and an unmanned aerial vehicle seedling throwing control method, and belongs to the technical field of plant protection equipment. The unmanned aerial vehicle comprises a vehicle body and a plurality of seedling slinging systems, wherein the seedling slinging systems are mounted on the vehicle body; the seedling throwing system comprises a seedling placing frame and a seedling taking mechanism, the seedling placing frame provides a seedling placing position, and the seedling taking mechanism is used for taking out seedlings on the seedling placing frame. The unmanned aerial vehicle seedling throwing control method comprises the following steps: controlling movable structures in a plurality of seedling throwing systems to move along a preset path, wherein the movable structures are seedling placing frames or seedling taking mechanisms. The unmanned aerial vehicle is provided with at least two seedling slinging systems, so that the utilization rate of the load space of the unmanned aerial vehicle is improved, and the at least two seedling slinging systems can work simultaneously to improve the seedling slinging efficiency. According to the unmanned aerial vehicle seedling throwing control method, by controlling the moving paths of the movable structures in the plurality of seedling throwing systems, the influence of the seedling throwing operation on the flight stability of the unmanned aerial vehicle is reduced, and the seedling throwing effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of plant protection equipment, and in particular to an unmanned aerial vehicle and a method for controlling unmanned aerial vehicle seedling throwing. Background Art

[0002] In the field of agricultural planting, some crops need to be planted after raising seedlings. For mechanical planting of seedlings, the relevant technology relies on agricultural machinery traveling on the ground to transplant or broadcast seedlings. However, this method of planting seedlings requires reserved space for agricultural machinery on the ground. Due to site restrictions, the utilization rate of planting space is low. There are also some drones equipped with seedling broadcasting systems in the relevant technology, but they also have the disadvantages of low operating efficiency and are not suitable for promotion and application. Summary of the invention

[0003] One of the purposes of the embodiments of the present invention is to provide a drone equipped with at least two sets of seedling throwing equipment, which can improve space utilization, improve work efficiency, and help maintain the flight stability of the drone.

[0004] The second purpose of the embodiment of the present invention is to provide a method for controlling the transplanting of rice seedlings by a drone, which reduces the impact of the transplanting operation on the flight stability of the drone by controlling the moving paths of movable structures in multiple transplanting systems.

[0005] To achieve one of the above purposes, the present invention adopts the following technical solutions:

[0006] A drone, comprising:

[0007] Body;

[0008] A plurality of seedling throwing systems are installed on the machine body; the seedling throwing system comprises a seedling placing frame and a seedling taking mechanism, the seedling placing frame provides a seedling placing position, and the seedling taking mechanism is used to take out the seedlings on the seedling placing frame.

[0009] In order to achieve the second of the above-mentioned objectives, the present invention adopts the following technical solutions:

[0010] A method for controlling unmanned aerial vehicle seedling throwing is provided, and the method is applied to the unmanned aerial vehicle described in the above scheme; the method comprises:

[0011] A plurality of movable structures in the seedling throwing system are controlled to move along a preset path, wherein the movable structures are seedling placing racks or seedling taking mechanisms.

[0012] The beneficial effects of the present invention are as follows: the drone is equipped with at least two sets of seedling throwing systems to improve the utilization rate of the drone's load space, and at least two sets of seedling throwing systems can work simultaneously to improve the efficiency of seedling throwing.

[0013] The unmanned aerial vehicle seedling throwing control method improves the seedling throwing effect by controlling the moving paths of movable structures in multiple seedling throwing systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0015] Figure 1-A This is one of the schematic diagrams of blanket seedlings;

[0016] Figure 1-B A schematic diagram of a seedling tray for pot seedlings;

[0017] Figure 2 This is one of the structural schematic diagrams of the seedling throwing system according to an embodiment of the present invention;

[0018] Figure 3 for Figure 2 The second structural diagram of the seedling throwing system;

[0019] Figure 4 for Figure 2 The third structural diagram of the seedling throwing system;

[0020] Figure 5 for Figure 2 The fourth structural diagram of the seedling throwing system;

[0021] Figure 6 This is a second structural schematic diagram of the seedling throwing system according to an embodiment of the present invention;

[0022] Figure 7 This is the third structural schematic diagram of the seedling throwing system according to the embodiment of the present invention;

[0023] Figure 8 This is one of the structural schematic diagrams of the drone according to the embodiment of the present invention;

[0024] Fig. 9 This is a second structural schematic diagram of the drone according to an embodiment of the present invention;

[0025] Fig.10 This is a third structural schematic diagram of the drone according to an embodiment of the present invention;

[0026] Fig.11 This is a fourth structural schematic diagram of the drone according to an embodiment of the present invention;

[0027] Fig.12 This is a fifth structural schematic diagram of the drone according to an embodiment of the present invention;

[0028] Figure 13-A1 This is a sixth structural schematic diagram of the drone according to an embodiment of the present invention;

[0029] Figure 13-B1 for Figure 13-A1 Another perspective diagram of the structure;

[0030] Figure 13-A2 This is a seventh structural schematic diagram of the drone according to an embodiment of the present invention;

[0031] Figure 13-B2 for Figure 13-A2 Another perspective diagram of the structure;

[0032] Fig.14 The eighth structural schematic diagram of the drone according to the embodiment of the present invention (the figure shows the first movement mode of the seedling rack of the multiple seedling throwing system);

[0033] FIG15 is an eighth structural schematic diagram of the drone according to an embodiment of the present invention (the figure shows a second movement mode of the seedling rack of multiple seedling throwing systems);

[0034] Fig.16 This is a ninth structural diagram of the drone according to an embodiment of the present invention;

[0035] Fig.17 A schematic diagram of a seedling picking method of a seedling throwing system of a drone according to an embodiment of the present invention;

[0036] Figure 18-A This is the second schematic diagram of blanket seedlings;

[0037] Figure 18-B Reason Figure 18-A Individual rice seedlings obtained by cutting the blanket seedlings;

[0038] Fig.19 This is a schematic diagram of the pitch axis, roll axis, and heading axis of the drone.

[0039] In the figure: 10, body; 11, fuselage; 111, rotor; 12, frame; 20, seedling throwing system; 201, first seedling throwing system; 202, second seedling throwing system; 21, base; 22, seedling placing frame; 221, main connecting frame; 222, seedling placing tray; 2221, bottom door; 23, seedling taking mechanism; 231, seedling taking device; 23101, first seedling taking device; 23102, second seedling taking device; 232, rotor Plate; 24, first driving device; 25, second driving device; 26, opening plate; 261, bottom plate; 262, back plate; 263, seedling taking mouth; 271, first bracket; 272, second bracket; 273, third bracket; 274, fourth bracket; 28, seedling delivery mechanism; 30, connecting piece; 81, blanket seedling; 811, blanket base; 812, seedling plant; 821, seedling tray; 822, groove. DETAILED DESCRIPTION

[0040] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0041] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0043] For the mechanized planting of seedlings, there are only two planting methods in the relevant technology: transplanting and broadcasting. Transplanting refers to the planting method of inserting the seedlings into the field after the seedlings are grown; broadcasting refers to the planting method of broadcasting the seedlings into the farmland after the seedlings are grown. The broadcasting method can improve the work efficiency to a certain extent compared with the transplanting method. However, in the relevant technology, the plant protection equipment equipped with the broadcasting system still faces many restrictions when it is used, and its scope of application is small.

[0044] In the related art, plant protection equipment equipped with a seedling throwing system generally has the following problems:

[0045] First, for ground agricultural machinery (plant protection vehicles) equipped with a seedling throwing system, it is necessary to reserve driving space for the agricultural machinery on the ground when operating. On the one hand, the utilization rate of the planting space is limited, and on the other hand, it is greatly restricted by the terrain. Second, some patents disclose solutions for carrying a seedling throwing system on drones, but these patents are not practical and cannot be implemented in practice, which is not conducive to promotion and application. Third, in some technologies, the seedling throwing system is carried on a drone, but this type of seedling throwing system has requirements for the type of seedlings and can only be used for non-blanket seedlings (such as pot seedlings). However, farmers mainly use blanket seedlings to raise seedlings, and pot seedlings are not popular. The drones equipped with seedling throwing systems in related technologies cannot be widely used.

[0046] in, Figure 1-A , Figure 18-A The diagram shows a blanket seedling 81. When the blanket seedling 81 is cultivated, the blanket seedling 81 includes a blanket base 811 at the bottom and a plurality of seedling plants 812 growing out of the blanket base 811. The blanket base 811 includes soil and the roots of the seedlings. The roots of the seedlings in the blanket base 811 are adhered to each other. Therefore, the blanket seedling 81 needs to be cut during planting, and the blocks of blanket seedlings 81 are cut into multiple single seedlings. Since agricultural transplanters are the mainstream rice planting agricultural machinery currently in use, the main method of raising rice seedlings by farmers is blanket seedlings 81. Pot seedlings, that is, non-blanket seedlings, Figure 1-B The figure shows a seedling tray 821 for pot seedlings, on which a number of grooves 822 are evenly distributed, with openings on top of the grooves 822. There is a seedling in each groove 822, and each groove 822 has a hole at the bottom. A needle is inserted into the groove 822 from the hole at the bottom, so that the seedlings can be pushed out for transplanting. However, this method of raising seedlings is not popular.

[0047] The present invention proposes an unmanned aerial vehicle and an unmanned aerial vehicle seedling throwing control method, which are equipped with at least two seedling throwing systems 20. On the one hand, the utilization rate of the load space of the unmanned aerial vehicle can be improved; on the other hand, multiple seedling throwing systems 20 can work simultaneously to improve the seedling throwing efficiency; on the third hand, multiple seedling throwing systems 20 provide hardware conditions, and the unmanned aerial vehicle can move according to certain rules through movable structures in multiple seedling throwing systems 20 under ground control or automatic control of the unmanned aerial vehicle system. When multiple sets of seedling throwing systems 20 are performing seedling throwing operations at the same time, force offset is performed to avoid the problem that the center of gravity of the unmanned aerial vehicle deviates from the preset position and causes the unmanned aerial vehicle to tilt when the mechanism in a single seedling throwing system 20 moves; on the fourth hand, the unmanned aerial vehicle of the present invention is used for seedling throwing of blanket seedlings 81, and can also be used for seedling throwing of non-blanket seedlings. Even when seedling throwing, the seedling rack 22 needs to move horizontally or the seedling taking mechanism 23 needs to move horizontally to take out the blanket seedlings 81. When multiple sets of seedling throwing systems 20 work simultaneously, force offset can be achieved, and the overall posture of the unmanned aerial vehicle can be kept stable, without the need to specially configure a counterweight system to maintain balance. The method for controlling seedling transplanting of unmanned aerial vehicles controls the moving paths of movable structures in multiple seedling transplanting systems 20. On the one hand, the efficiency of seedling transplanting is improved by controlling multiple seedling transplanting systems 20 to perform seedling transplanting operations simultaneously. On the other hand, the method controls the moving paths of movable structures in multiple seedling transplanting systems 20. While ensuring that multiple seedling transplanting systems 20 transplant at the same time, the influence of the seedling transplanting systems 20 on the center of gravity during operation is reduced, thereby ensuring the stability of the flight posture of the unmanned aerial vehicle and the seedling transplanting effect.

[0048] It should be noted that the "seedling" in the present invention can be rice seedlings, melon seedlings, vegetable seedlings, etc. In the drawings of the specification of the present application, when y / x appears, it refers to y or x.

[0049] In order to facilitate the description of the configuration of the seedling throwing system on the drone, Fig.19 The figure shows the pitch axis, roll axis (also called tumbling axis), and heading axis of the drone. Fig.19 It is only used to indicate the pitch, roll and heading axes of the drone. Fig.19 The seedling throwing system is not shown. Fig.19 The wing setting method, fuselage structure and load device of the UAV are not limited to this solution. Among them, the pitch axis, roll axis and heading axis are imaginary lines passing through the center of the UAV. Please refer to Figures 2 to 19 ,The structure of the UAV is described below.

[0050] The UAV includes a body 10 and a plurality of seedling throwing systems 20, wherein the plurality is two or more than two. The seedling throwing systems 20 are mounted on the body 10, and are devices for taking seedlings out of the seedling tray 821 and throwing them onto the ground.

[0051] The seedling throwing system 20 includes a seedling placing frame 22 and a seedling taking mechanism 23. The seedling placing frame 22 includes a seedling placing area, and the seedling placing area provides a seedling placing position. The seedling taking mechanism 23 includes a seedling taking device 231. During the movement of the seedling taking device 231, the single seedling on the seedling placing frame 22 is taken out by cutting or ejecting. The taken out single seedling can be thrown and dropped into the field by free fall, wind blowing, centrifugal throwing, catapulting, etc. The seedling throwing system 20 has an operating state. When the seedling throwing system 20 is in the operating state, the seedling placing frame 22 and the seedling taking mechanism 23 move relative to each other, so that the seedling taking device 231 corresponds to different positions of the seedling placing frame 22, so that the seedling taking device 231 can take seedlings from different areas on the seedling placing frame 22.

[0052] When the seedling taker 231 is configured as a seedling taker blade, the blanket seedlings 81 can be cut and thrown. Fig.17 Taking the rice seedling placing frame 22 as an example of being able to move relative to the machine body 10 and the rice seedling taker 231 along the x direction, the rice seedling throwing method is described: the seedling blanket 81 is placed on the rice seedling placing frame 22. During the rice seedling throwing operation, the rice seedling taker 231 is aligned with the A11 area of ​​the rice seedling placing frame 22. The rice seedling taker 231 cuts the seedling blanket 81 in the A11 area, takes out the single rice seedling in A11, and throws out the single rice seedling by means of centrifugal throwing force, gravity, etc. Then, the rice seedling placing frame 22 is controlled to move a distance along the x direction so that The seedling taker 231 then aims at the A12 area adjacent to the A11 area on the seedling placing rack 22, and cuts the blanket seedlings 81 in the A12 area, takes out the single seedling of A12 and throws it out, and repeats the steps of horizontal movement of the seedling placing rack 22 and cutting by the seedling taker 231 until the seedlings in the first row of the seedling placing rack 22 are cut and thrown out, and then repeats the above steps until the seedlings in the second row, the third row ... the Nth row on the seedling placing rack 22 are cut and thrown out. Figure 18-A A side view of the entire blanket seedling 81 is shown. Figure 18-B It shows a single seedling being cut.

[0053] The drone of the present invention can have the seedling placing frame 22 move laterally relative to the seedling taking device 231 or the seedling taking device 231 move laterally relative to the seedling placing frame 22. By adopting different seedling taking devices 231, the seedling taking and throwing of the blanket seedlings 81 and the pot seedlings can be satisfied. When the seedling taking device 231 is configured as a seedling taking blade, for the blanket seedlings 81 with interlaced roots, the single seedling can be cut and thrown out, meeting the demand for throwing the blanket seedlings 81 by the drone; of course, when the seedling taking device 231 is configured as a seedling taking needle, for the pot seedlings separated into many units, the single seedling can also be thrown out by pushing the seedling taking needle against the single seedling of each unit in the seedling tray.

[0054] The drone of the present invention is equipped with a seedling transplanting system 20. When the drone transplants seedlings, compared with ground-based agricultural machinery, there is no need to reserve space for agricultural machinery to travel, and the drone is less restricted by terrain and ground space, and can be applied to more scenarios with higher efficiency.

[0055] When the inventor configures the seedling throwing system 20 on the drone, it is necessary to configure a movable seedling placing frame 22 or a seedling taking mechanism 23. Based on this, it is found that when the drone is only equipped with one seedling throwing system 20, during the seedling throwing operation, if the seedling placing frame 22 is driven to move so that the seedling placing frame 22 and the seedling taking mechanism 23 move relative to each other, the weight of the seedling placing frame 22 plus the blanket seedling 81 is relatively large. When the seedling placing frame 22 moves to one side of the drone, the center of gravity of the drone will be biased toward this side, and the body 10 of the drone will tilt, affecting the posture of the drone; if the seedling taking mechanism 23 is driven to move so that the seedling placing frame 22 and the seedling taking mechanism 23 move relative to each other, it is also possible that due to the large weight of the seedling taking mechanism 23, the drone will tilt when the seedling taking mechanism 23 moves to one side of the drone.

[0056] The drone of the present invention is configured with multiple seedling throwing systems 20. In the first aspect, multiple seedling throwing systems 20 can work simultaneously. When working, multiple seedling placing frames 22 in multiple seedling throwing systems 20 move simultaneously or multiple seedling taking mechanisms 23 move simultaneously to offset the force, overcome the problem of drone tilt caused by the movement of a single seedling placing frame 22 or a single seedling taking mechanism 23, so as to improve the stability of drone operation; for example, the plant protection equipment is configured with two seedling throwing systems 20, and the plant protection equipment is configured to move the seedling placing frame 22 during seedling throwing operation. When the seedling throwing operation is performed, the seedling placing frame 22 in one of the seedling throwing systems 20 moves to the left side of the drone, and the seedling placing frame 22 in the other seedling throwing system 20 moves to the right side of the drone, so that the load on both sides of the center of the drone can be kept in a relatively consistent state, so as to keep the drone posture stable when the seedling throwing system 20 performs the seedling throwing operation, and avoid the overall center of gravity of the drone from shifting too much to avoid affecting the flight control of the drone. In the second aspect, the drone load space can be more fully utilized to avoid wasting the load space, and the efficiency of the drone seedling throwing operation can be maximized. In the third aspect, multiple seedling throwing systems 20 can work simultaneously to improve the efficiency of seedling throwing.

[0057] Based on the UAV with multiple sets of seedling throwing systems 20, the present invention also proposes a UAV seedling throwing control method, and the UAV seedling throwing control method is described below.

[0058] The control methods of UAV seedling throwing include:

[0059] Moving step: controlling the movable structures in the plurality of seedling-casting systems 20 to move along a preset path, wherein the movable structures are the seedling-casting racks 22 .

[0060] Seedling picking step: control the seedling picking mechanism 23 to pick the seedlings on the seedling rack 22.

[0061] For example, when the number of seedling throwing systems 20 is an even number, in the moving step, the movable structures can be controlled to move in opposite directions. When the number of seedling throwing systems 20 is an even number or an odd number, in the moving step, the multiple movable structures can be controlled to move clockwise or counterclockwise. By having multiple sets of seedling throwing systems 20 work at the same time, the forces of multiple movable structures can be offset when they move, avoiding the problem of the drone tilting due to a heavy load on one side, reducing the impact of the seedling throwing operation on the flight stability of the drone, and improving the seedling throwing effect.

[0062] It should be noted that the moving step may be performed first and then the seedling taking step, or the seedling taking step may be performed first and then the moving step, or the moving step and the seedling taking step may be performed simultaneously.

[0063] In one embodiment, the seedling picking step, the moving step, the seedling picking step, and the moving step are performed at intervals and repeatedly. For example, the drone includes two seedling throwing systems 20, and controls the movement of the seedling placing frame 22 when controlling the movement:

[0064] Seedling picking step: controlling the first seedling picking mechanism 23 to pick seedlings from the first seedling-releasing frame 22 in the first area, and controlling the second seedling picking mechanism 23 to pick seedlings from the first seedling-releasing frame 22 in the first area;

[0065] Moving step: controlling the first seedling placing frame 22 to move along the first path, and at the same time controlling the second seedling taking mechanism 23 to move along the second path, so that the first seedling taking mechanism 23 is aligned with the second area of ​​the first seedling placing frame 22, and the second seedling taking mechanism 23 is aligned with the second area of ​​the second seedling placing frame 22;

[0066] Seedling picking step: controlling the first seedling picking mechanism 23 to pick seedlings from the second area of ​​the first seedling placing frame 22, and controlling the second seedling picking mechanism 23 to pick seedlings from the second area of ​​the first seedling placing frame 22;

[0067] Moving steps: The same logic applies.

[0068] The first and second paths mentioned above are preset paths, which include route information and moving direction information. The moving paths of the movable structures in the drone including multiple seedling throwing systems 20 are preset. Therefore, when performing seedling throwing operations, multiple movable structures can be moved along different preset paths, so that the forces of the movement on the change of the center of gravity of the drone offset each other, and the center of gravity of the drone is kept at a preset position, such as keeping the drone in a horizontal posture, or keeping the drone in other postures, so as to meet the posture requirements of the drone during the seedling throwing process, which is conducive to maintaining the flight stability of the drone and improving the seedling throwing effect.

[0069] In one embodiment, the drone includes two seedling throwing systems 20, the preset path of the first seedling putting frame 22 in the first seedling throwing system 201 includes first route information and first direction information, the preset path of the second seedling putting frame 22 in the second seedling throwing system 202 includes second route information and second direction information, the first route is parallel to the second route, and the first direction is opposite to the second direction. Exemplarily, the first seedling putting frame 22 and the second seedling putting frame 22 are arranged along the pitch axis of the drone, and during the seedling throwing operation, the first seedling putting frame 22 moves forward in a direction parallel to the roll axis of the drone, and the second seedling putting frame 22 moves backward in a direction parallel to the roll axis of the drone, at this time, the problem of unstable center of gravity of the drone caused by the movement of a single seedling putting frame 22 when a set of seedling throwing systems 20 can be overcome, especially when the seedlings are heavy, the stability of the drone can also be maintained; so that the loads on both sides of the center of the drone are continuously in a relatively consistent state, avoiding excessive deviation of the center of gravity of the drone as a whole and affecting flight control.

[0070] In one embodiment, the drone includes N seedling throwing systems 20, where N is an integer greater than or equal to three; the movable structures in the N seedling throwing systems 20 are arranged around a first axis, which may be one of the roll axis, pitch axis, and heading axis of the drone, or other axes. Controlling the movable structures in the plurality of seedling throwing systems 20 to move along a preset path includes: controlling the plurality of movable structures to move along a first preset path, a second preset path, ... an Nth preset path, respectively, and the first preset path, the second preset path, ... an Nth preset path form a circular path. Fig.14 , Figure 15-A , Figure 15-B As shown, the seedling racks 22 of the multiple seedling throwing systems 20 in the figure can move clockwise or counterclockwise to keep the center of gravity of the entire drone from being excessively offset.

[0071] Fig.14 In the figure, the drone includes three seedling planting systems 20. The dotted lines in the figure indicate the first route information 71, the second route information 72, and the third route information 73 of the first preset path, the second preset path, and the third preset path. The three arrows in the figure indicate the moving directions of the three seedling planting racks 22 in the preset paths. Figure 15-A , 15-B In the figure, the drone includes four seedling-casting systems 20, and the dotted lines in the figure illustrate the first route information 71, the second route information 72, the third route information 73, and the fourth route information 74 of the first preset path, the second preset path, the third preset path, and the fourth preset path, and the four arrows in the figure illustrate the moving directions of the four seedling-casting racks 22 in the preset paths. It should be noted that the attached figure illustrates the situation when the route of the preset path is a straight line. In other embodiments, the route of the preset path can also be a curved route, a route composed of a curve and a straight line, or a route composed of multiple straight lines.

[0072] In one embodiment, the drone includes N seedling throwing systems 20, where N is an even number greater than or equal to four; the movable structures in the N seedling throwing systems 20 are arranged around a first axis, which may be one of the roll axis, pitch axis, and heading axis of the drone, or other axes. Controlling the movable structures in the plurality of seedling throwing systems 20 to move along a preset path includes: the preset paths of two movable structures symmetrical about the first axis are parallel and in opposite directions. Figure 15-B As shown, the upper and lower rice-laying racks 22 in the figure move in opposite directions, and the left and right rice-laying racks 22 in the figure move in opposite directions to keep the center of gravity of the entire drone from being excessively offset.

[0073] In one embodiment, before controlling a plurality of movable structures to move along a preset path, the drone seedling throwing control method further includes: receiving a seedling throwing signal. Receiving a seedling throwing signal may be receiving a seedling throwing start signal sent by a ground remote control or a base station. In other embodiments, before controlling a plurality of movable structures to move along a preset path, the drone seedling throwing control method further includes: acquiring and processing first data, the first data being drone position data or drone attitude data. Taking the first data being drone position data as an example, when the drone flies to one or more of the plane coordinates and the height coordinates that meet the preset requirements, the aforementioned moving step and seedling picking step are executed.

[0074] To facilitate understanding of the drone seedling throwing operation, the structure of the seedling throwing system 20 carried by the drone is described below.

[0075] Please refer to Figure 2 The seedling throwing system 20 includes a base 21, a seedling placing frame 22, a seedling taking mechanism 23, a seedling sending mechanism 28, a first driving device 24, a second driving device 25, and an opening plate 26.

[0076] The drone body 10 includes a fuselage 11 and a frame 12. The fuselage 11 includes a rotor 111 system, and the frame 12 includes a plurality of tripods. The seedling throwing system 20 is installed on the fuselage 11 or the frame 12 through a base 21. In other embodiments, each mechanism in the seedling throwing system 20 can also be directly installed on the fuselage 11 or the frame 12.

[0077] The seedling placing frame 22 is used to provide a position for placing seedlings. The seedling placing frame 22 and the seedling taking mechanism 23 are installed on the base 21. The seedling placing frame 22 can move laterally on the base 21 so that the seedling taking mechanism 23 can take seedlings from multiple areas of the seedling placing frame 22 that are laterally distributed. The seedling placing frame 22 is movably connected to the base 21. The seedling placing frame 22 can move relative to the base 21, and thus move relative to the machine body 10. The first driving device 24 is installed on the base 21 or the machine body 10. The first driving device 24 is transmission-connected to the seedling placing frame 22. The first driving device 24 is used to drive the seedling placing frame 22 to move along a straight line.

[0078] In some embodiments, the seedling placing frame 22 can move along the first direction, and the position of the seedling taking mechanism 23 in the first direction is fixed, so that after the seedling taking mechanism 23 completes the seedling taking of the A11 area of ​​the first row of the blanket seedling 81, the seedling placing frame 22 can be driven to move along the first direction, and the seedling taking mechanism 23 then takes the seedlings of the A12 area of ​​the first row of the blanket seedling 81. Among them, one end of the seedling placing frame 22 is the seedling exit end, and the seedling exit end is provided with a frame opening, and the seedling taking mechanism 23 is arranged on the side of the frame opening to take the seedlings through the frame opening. Although this configuration scheme of the seedling placing frame 22 and the seedling taking mechanism 23 facilitates the seedlings on the seedling taking mechanism 23 to take the seedlings on the seedling placing frame 22.

[0079] However, in some applications, the inventors found that when the seedling taker 231 takes the seedlings from the first row, if the seedling rack 22 needs to keep supporting the first row of seedlings, the seedling taker 231 is not convenient for taking the seedlings. For example, when the seedlings are blanket seedlings 81 and the seedling taker 231 is a seedling taker head, when taking the seedlings, the seedling taker head needs to be used to cut the first row of blanket seedlings 81, and if the seedling rack 22 needs to keep supporting the first row of seedlings, the seedling taker head needs to be installed on the side of the seedlings facing away from the seedling rack 22. At this time, the seedling taker 231 will occupy space, which is not conducive to the side-by-side arrangement of multiple seedling racks 22, and the seedling taker head may scrape the seedling rack 22 when taking the seedlings, which is not convenient for cutting. The inventors have also found that, in order to facilitate the first row of seedlings to be taken by the seedling taker 231, if the first row of seedlings is sent out of the seedling placing rack 22 by the seedling sending mechanism 28 or other means, although a larger space can be provided to prevent the seedling placing rack 22 from blocking the first row of seedlings from being taken by the seedling taker 231, the first row of seedlings is not supported and the position is unstable, and the seedlings may even slide out and fall. The inventors have also found that, if a baffle is provided at the seedling exit end of the seedling placing rack 22 to prevent the seedlings from sliding out of the seedling placing rack 22, the baffle will block the seedling taking path of the seedling taking mechanism 23, which is not conducive to the setting of the rack opening.

[0080] Therefore, in order to obtain a better seedling removal effect and take into account the stability of the seedling position, the inventors configured an opening plate 26 in the seedling throwing system 20. Figure 2 , Figure 6 , Figure 7 , Fig. 9As shown, the opening plate 26 is connected to the base 21. One end of the seedling-releasing frame 22 is the seedling-exiting end, and the seedling-exiting end is not provided with a baffle, and the seedling-exiting end is provided with a frame opening. The opening plate 26 is provided at the side of the seedling-exiting end, and the position of the opening plate 26 in the first direction is fixed, and the seedling-releasing frame 22 can move relative to the opening plate 26 along the first direction. The opening plate 26 is provided with a seedling-taking opening 263, and the position of the seedling-taking device 231 of the seedling-taking mechanism 23 corresponds to the seedling-taking opening 263. When the seedling-taking device 231 moves, it can contact the seedlings on the seedling-releasing frame 22 through the seedling-taking opening 263 to cut or lift the seedlings. In this embodiment, the opening plate 26 is used to provide a seedling taking opening 263 that does not move with the seedling placing rack 22. The relative positions of the seedling taking mechanism 23 and the seedling taking opening 263 in the first direction are fixed, and the relative positions of the seedling placing rack 22 and the opening plate 26 in the first direction are movable. The part of the opening plate 26 where the seedling taking opening 263 is not provided supports the seedlings to prevent the seedlings from sliding out of the seedling placing rack 22 through the opening of the frame, and the opening can also have the function of supporting the seedling placing rack 22. This arrangement can satisfy the requirement that when the seedling placing rack 22 moves relative to the seedling taking mechanism 23, the seedling taking mechanism 23 can continue to take seedlings from the blanket seedlings 81.

[0081] The seedling rack 22 and the opening plate 26 are slidably connected by a sliding assembly, so that the seedling rack 22 can move more smoothly relative to the opening plate 26. The sliding assembly can be, but is not limited to, a pulley provided on the seedling rack 22 and a wheel track provided on the opening plate 26. In other embodiments, the seedling rack 22 and the opening plate 26 may not be provided with a sliding assembly.

[0082] The seedling placing frame 22 includes a frame bottom plate and frame side plates connected to each other. The frame side plates are arranged at both ends of the frame bottom plate in the first direction, and a seedling placing trough is formed between the frame bottom plate and the frame side plates. The frame openings connected to the seedling placing trough are arranged at both ends of the frame bottom plate in the second direction. The opening plate 26 is arranged on one side of the frame bottom plate in the second direction.

[0083] The opening plate 26 is an L-shaped plate, and the opening plate 26 includes a bottom plate portion 261 and a back plate portion 262. The bottom plate portion 261 and the back plate portion 262 of the opening plate 26 are used to support the back surface and the front end surface of the first row of blanket seedlings 81 respectively.

[0084] In some embodiments, the seedling rack 22 is a rectangular seedling rack 22, the first direction of the rack bottom plate is its width direction, the second direction of the rack bottom plate is its length direction, the left and right sides of the seedling rack 22 are provided with rack side plates as baffles, and the upper and lower sides of the seedling rack 22 are not provided with baffles, so that the seedlings can be placed in the seedling rack 22 at the upper rack opening, and the seedlings can be sent to the seedling taking mechanism 23 from the lower rack opening. Among them, the width of the rack bottom plate can match the width of a tray of seedlings, and the height of the rack side plates is not limited to the height of a tray of seedlings. In other embodiments, the first direction of the rack bottom plate is its length direction, and the second direction of the rack bottom plate is its width direction.

[0085] When the rice seedlings are blanket seedlings 81, a seedling taking blade head can be used as a rice seedling taking device 231. In order to achieve the effect of throwing rice seedlings when the seedling taking blade head takes rice seedlings, the rice seedling taking mechanism 23 also includes a turntable 232, and the rice seedling throwing system 20 also includes a second driving device 25. The turntable 232 is rotatably mounted on the base 21, and the rice seedling taking device 231 is a seedling taking blade head, which is mounted on the turntable 232. The position of the seedling taking blade head corresponds to the seedling taking opening 263 of the opening plate 26, and at least a part of the seedling taking blade head protrudes relative to the outer peripheral surface of the turntable 232. The second driving device 25 is used to drive the turntable 232 to rotate, thereby driving the seedling taking blade head to rotate, so that the seedling taking blade head approaches or moves away from the rice seedlings on the rice seedling placing frame 22. The second driving device 25 can be, but is not limited to, a motor. During operation, the second driving device 25 drives the rotating disk 232, and the rotating disk 232 drives the seedling cutting head to rotate at high speed. When the seedling cutting head rotates to the seedling taking opening 263, the seedling is cut and taken out, driving the seedling to rotate, so that the seedling is thrown out under the action of centrifugal force, and the drone is used to throw the seedling. At the same time, the seedling placing frame 22 will move horizontally with the seedling cutting head, driving the blanket seedling 81 to move left and right, so that the blanket seedling 81 can be cut and thrown out row by row.

[0086] It should be noted that the present invention does not limit the structure of the seedling removal blade head, as long as the single seedling can be cut from the entire blanket 81 by the seedling removal device 231. Exemplarily, the seedling removal blade head may be L-shaped, so that when the seedling removal blade head cuts the blanket 81, the two sides of a single area on the blanket 81 are cut. In other embodiments, the seedling removal blade head may also be linear, and the seedling removal blade head only cuts one side of a single area. When the turntable 232 drives the seedling removal blade head to rotate, the area is pulled so that the other side of the single area is separated from the whole, thereby realizing the removal of a single seedling.

[0087] A seedling taking mechanism 23 may include a plurality of seedling taking devices 231. Figure 2 A seedling taking mechanism 23 includes two seedling takers 231. Of course, a seedling taking mechanism 23 can also include three, four, etc. seedling takers 231. The seedling takers 231 are evenly distributed around the turntable 232. For example, the angle between two seedling takers 231 and the center of the turntable 232 is 180 degrees, the angle between three seedling takers 231 and the center of the turntable 232 is 120 degrees, and the angle between four seedling takers 231 and the center of the turntable 232 is 90 degrees.

[0088] In other embodiments, the seedling taking mechanism 23 includes a turntable 232 and a seedling taking device 231. The seedling taking device 231 may be a seedling taking needle to adapt to the seedling taking and throwing operation of the pot seedlings.

[0089] Please continue to refer to Figure 4 , Figure 5 , Figure 13-A2 , Figure 13-B2 , Figures 14 to 16In order to improve the operation efficiency, the seedling rack 22 includes a plurality of seedling trays 222 placed in parallel, each of which includes a bottom plate and a side plate, and each seedling tray 222 provides a seedling slot, so that a plurality of whole seedlings can be placed in parallel on a seedling rack 22. Correspondingly, the opening plate 26 is adaptively lengthened, and a plurality of seedling taking openings 263 are provided on the opening plate 26, so that each seedling tray 222 has at least one seedling taking opening 263 on its side. The seedling throwing system 20 includes a plurality of seedling taking mechanisms 23, and at least one seedling taking mechanism 23 is provided on the side of each seedling tray 222. In other words, the seedling rack 22 is provided with a plurality of seedling trays 222, and each seedling tray 222 corresponds to at least one seedling taking opening 263 and one seedling taking mechanism 23, so that a plurality of whole seedlings arranged in parallel can be simultaneously taken and thrown by a plurality of seedling taking mechanisms 23. On this basis, the three seedling taking mechanisms 23 can share a second driving device 25, that is, a second driving device 25 can be simultaneously connected to multiple seedling taking mechanisms 23 to achieve synchronous rotation of the three turntables 232, thereby achieving synchronous seedling taking of the seedling takers 231 of the three seedling taking mechanisms 23; each seedling taking mechanism 23 can also be configured with a second driving device 25 to achieve flexible control of each seedling taking mechanism 23.

[0090] In one embodiment, the seedling throwing system 20 includes a seedling sending mechanism 28, which is disposed on the seedling placing frame 22. At least one end of the seedling placing frame 22 forms a frame opening, and the seedling taking mechanism 23 is disposed on the side of the frame opening. The seedling sending mechanism 28 is used to send the blanket seedlings 81 on the seedling placing frame 22 to the frame opening, so as to send the blanket seedlings 81 to the seedling taking mechanism 23. The seedling sending mechanism 28 can be, but is not limited to, a conveyor belt or a conveyor roller, and a plurality of seedling sending mechanisms 28 can be provided, for example, a plurality of seedling sending mechanisms 28 are provided at intervals along the seedling sending direction, for example, conveyor belts are provided at different positions (such as different heights) of the seedling placing frame 22. Exemplarily, the seedling sending mechanism 28 includes a driving wheel, a driven wheel, a conveyor belt, a first wheel frame and a second wheel frame. The driving wheel is installed on the seedling sending frame through the first wheel frame, and the driven wheel is installed on the seedling sending frame through the second wheel frame. The conveyor belt is sleeved outside the driving wheel and the driven wheel. The driving wheel rotates when driven by a motor, and the conveyor belt and the driven wheel rotate accordingly. The bottom of the seedling contacts the conveyor belt and is sent to the seedling taking mechanism 23 under the action of the conveyor belt.

[0091] In some embodiments, in order to realize that the seedling rack 22 is installed on the base 21, the seedling throwing system 20 includes a first bracket 271, which is arranged between the seedling rack 22 and the base 21, and is used to support the seedling rack 22. One or multiple first brackets 271 can be arranged between the seedling rack 22 and the base 21, and when multiple first brackets 271 are arranged, the seedling rack 22 is supported more stably. The first bracket 271 is fixedly connected or hinged to the base 21, and the first bracket 271 is slidably connected to the seedling rack 22 through the connecting member 30, so as to realize the support of the seedling rack 22 by the first bracket 271 and make the seedling rack 22 slidable; or, the first bracket 271 is slidably connected to the base 21, and the first bracket 271 is fixedly connected or hinged to the seedling rack 22, as long as the seedling rack 22 can be supported by the first bracket 271 and can move relative to the base 21.

[0092] In some embodiments, in order to realize that the first driving device 24 drives the seedling rack 22 to move, the seedling throwing system 20 further includes a second bracket 272, such as Figure 2 , Figure 7 to Figure 13-A1 , Figure 13-B1 As shown, the first driving device 24 is installed on the base 21, one end of the second bracket 272 is connected to the first driving device 24, and the other end of the second bracket 272 is connected to the rice seedling rack 22. The first driving device 24 drives the second bracket 272 to move horizontally, so that the second bracket 272 drives the rice seedling rack 22 to move horizontally ( Figure 3 The second direction F2 is the lateral direction). The first driving device 24 is a motor, and the first driving device 24 is connected to the second bracket 272 by a transmission, which can be connected by a ball screw or a rack and pinion transmission assembly, and the rotation of the motor is converted into a linear movement of the second bracket 272, thereby driving the rice-planting frame 22 to move linearly, and the rice-planting frame 22 can be driven to move back and forth linearly by the forward and reverse rotation of the motor. In other embodiments, the first driving device 24 can also be a linear driving device.

[0093] In some embodiments, the seedling throwing system 20 includes the opening plate 26 of the aforementioned solution, and also includes a third bracket 273. The third bracket 273 is connected to the base 21, and the opening plate 26 is connected to the third bracket 273; the third bracket 273 supports the opening plate 26. When the seedling placing frame 22 is tilted relative to the base 21, the opening plate 26 is tilted relative to the base 21. At this time, the first bracket 271 is set on the back of the seedling placing frame 22, and the third bracket 273 is set on the back of the opening plate 26, which is conducive to supporting the tilted seedling placing frame 22 and the tilted opening plate 26. When the seedling placing frame 22 is horizontally set relative to the base 21, the opening plate 26 is horizontally set relative to the base 21. At this time, the first bracket 271 is set below the seedling placing frame 22 to support the seedling placing frame 22, and the third bracket 273 is set below the opening plate 26 to support the opening plate 26, so that a certain interval can be reserved between the seedling placing frame 22, the seedling taking device 231 and the base 21, and this interval can provide a working avoidance space for the seedling taking mechanism 23, which is conducive to the seedling taking mechanism 23 taking the seedlings.

[0094] In some embodiments, the seedling taking mechanism 23 includes the turntable 232 of the aforementioned solution, and the seedling throwing system 20 includes a fourth bracket 274 , the fourth bracket 274 is connected to the base 21 , and the turntable 232 is rotatably mounted on the fourth bracket 274 .

[0095] The body 10 of the drone includes a fuselage 11 and a frame 12. The fuselage 11 is connected to the frame 12 and is located above the frame 12. The fuselage 11 is provided with a rotor 111, which can drive all the seedling throwing systems 20 to fly and move. When the drone flies above the working area, the seedling throwing system 20 works to drop the seedlings into the working area. The frame 12 connected to the seedling throwing system 20 can be a tripod of the drone, which is supported by the tripod. The fuselage 11 or the frame 12 of the drone includes a fixed bracket, which is used to fix each seedling throwing system 20.

[0096] In some embodiments, the seedling throwing system 20 is located below the fuselage 11, and the seedling throwing system 20 is detachably mounted on the frame 12 or the fuselage 11. The seedling throwing system 20 and the fuselage 11 are designed in an upper and lower split type. Figure 8 As shown, the fuselage 11 of the UAV serves as a mobile platform, and is a separate design from the seedling throwing system 20, so that it is convenient to replace the throwing system under the fuselage 11 with other loads such as a sowing system or a mapping system.

[0097] In some embodiments, the seedling throwing system 20 is installed on the fuselage 11, such as Fig. 9 As shown, the frame 12 to which the seedling throwing system 20 is connected is a support for the drone fuselage 11 .

[0098] After describing the structure of a single seedling throwing system 20 on a drone, the following provides distribution methods of multiple seedling throwing systems 20 on a drone. These distribution methods are conducive to keeping the drone equipped with the seedling throwing system 20 stable during the seedling throwing operation.

[0099] For the convenience of description, the x-direction, y-direction and z-direction of the drone are marked in the accompanying drawings. The x-direction is the left-right direction of the drone, which can also be called the lateral direction of the drone. The y-direction is the front-back direction of the drone, which can also be called the longitudinal direction of the drone. The z-direction is the up-and-down direction of the drone, which can also be called the vertical direction of the drone. The pitch axis, roll axis (also called the roll axis), and heading axis (also called the yaw axis) of the drone are the axes of rotation of the drone. The pitch axis is the rotation axis of the drone in the left-right direction, the roll axis is the rotation axis of the drone in the front-and-back direction, and the heading axis is the rotation axis of the drone in the horizontal plane.

[0100] Distribution mode 1 of multiple seedling throwing systems 20: the seedling throwing frames 22 in the multiple seedling throwing systems 20 are arranged along the first direction of the drone. The first direction may be the x direction, y direction or z direction of the drone, or other directions such as the direction from the upper left corner to the lower right corner of the drone.

[0101] In some embodiments, the number of the seedling throwing systems 20 is an even number such as two or four, which is conducive to grouping the seedling throwing systems 20 in pairs, and the seedling throwing frames 22 of the two seedling throwing systems 20 in each group move in opposite directions.

[0102] In some embodiments, Figure 10 to Figure 13-B2 As shown, the seedling racks 22 in the multiple seedling throwing systems 20 are arranged at intervals along the first direction, and the seedling racks 22 in each seedling throwing system 20 are configured to be movable relative to the machine body 10 along the second direction, and the first direction is perpendicular to the second direction. In other words, the seedling racks 22 in the multiple seedling throwing systems 20 are arranged side by side, and the arrangement direction of the seedling racks 22 is different from the lateral movement direction of the seedling racks 22. Fig.10 For example, a drone includes two seedling throwing systems 20, the first direction is the y direction of the drone, and the second direction is the x direction of the drone. In the y direction of the drone, the two seedling throwing systems 20 are arranged one after the other, one seedling throwing frame 22 is close to the front of the drone, and the other seedling throwing frame 22 is close to the tail of the drone. The seedling throwing frames 22 in the two seedling throwing systems 20 are configured to be movable relative to the body 10 along the x direction. When performing seedling throwing operations, one of the two seedling throwing frames 22 moves horizontally to the left and the other moves horizontally to the right, which is conducive to maintaining the stability of the center of gravity of the drone. It should be noted that Fig.10 In the figure, when the horizontal arrow indicates the y direction, the direction inside and outside the paper is the x direction. Conversely, when the horizontal arrow indicates the x direction, the direction inside and outside the paper is the y direction.

[0103] In some embodiments, a plurality of seedling throwing systems 20 are arranged at intervals along a first direction, and a seedling putting frame 22 in each seedling throwing system 20 is configured to be movable relative to the machine body 10 along the first direction; in other words, the seedling putting frames 22 in a plurality of seedling throwing systems 20 are arranged side by side, and the arrangement direction of the seedling putting frames 22 is consistent with the lateral movement direction of the seedling putting frames 22. Fig.16 As shown, taking the drone including two seedling throwing systems 20, and the first direction being the x direction of the drone as an example, the seedling placing frames 22 of the two seedling throwing systems 20 are arranged on the left and the right in the x direction of the drone. When performing the seedling throwing operation, the seedling placing frames 22 on both sides are opened and closed synchronously, the left seedling placing frame 22 moves to the left and the right seedling placing frame 22 moves to the right, or the left seedling placing frame 22 moves to the right and the right seedling placing frame 22 moves to the left, so that the force can be offset, making it difficult for the drone to tilt when the seedling tray moves horizontally, which is conducive to maintaining the stability of the drone's center of gravity. In this way, the seedling taking mechanism 23 in multiple seedling throwing devices can be configured on the same side or opposite sides of the drone. Fig.16 As shown, multiple seedling taking mechanisms 23 are arranged on the same side. At this time, the seedlings can be thrown out from one side of the drone, which can meet the seedling throwing needs of some specific scenarios.

[0104] In some embodiments, Fig.14 , 15-A As shown in 15-B, a plurality of seedling throwing systems 20 are arranged along the first axis of the drone, and the first axis extends along the first direction, that is, a plurality of seedling throwing systems 20 are arranged along the first direction; and a plurality of seedling throwing frames 22 are arranged on both sides of the second axis of the drone. Taking two seedling throwing systems 20 as an example, two seedling throwing systems 20 are arranged along the first axis, and two seedling throwing systems 20 are arranged on both sides of the second axis. In this embodiment, the first axis and the second axis are two of the pitch axis, roll axis, and heading axis of the drone. In other embodiments, the first axis and the second axis may also be non-pitch axes, roll axes, and heading axes.

[0105] In this embodiment, the seedling racks 22 of the two seedling throwing systems 20 can be symmetrically arranged about the second axis, and the seedling racks 22 of the two seedling throwing systems 20 can also be asymmetrical. Each seedling throwing system 20 can include one seedling rack 22, or multiple seedling racks 22.

[0106] In this embodiment, when there are two seedling throwing systems 20, the two seedling throwing systems 20 can be arranged in the following ways:

[0107] First, as Fig.10As shown, the first axis is the roll axis, the second axis is the pitch axis or the heading axis, and the seedling placing frames 22 in the two seedling placing systems 20 are arranged along the roll axis and on both sides of the pitch axis / heading axis. In other words, one of the seedling placing frames 22 in the two seedling placing systems 20 is at the front side of the drone, and the other is at the rear side of the drone. Exemplarily, the two seedling placing systems 20 are arranged along the roll axis of the drone. Before the seedling placing operation starts, the seedling placing frames 22 of the two seedling placing systems 20 are symmetrical relative to the center of the body 10. When the seedling placing operation starts, one seedling placing frame 22 can be moved to the left, and the other seedling placing frame 22 can be moved to the right. The seedling placing system 20 located near the nose side casts the seedlings obliquely in front of the fuselage 11, and the seedling placing system 20 located near the tail side casts the seedlings obliquely behind the fuselage 11.

[0108] Second, the first axis is the pitch axis, and the second axis is the roll axis or the yaw axis. The seedling racks 22 in the two seedling throwing systems 20 are arranged along the pitch axis and on both sides of the roll axis / yaw axis. In other words, the seedling racks 22 in the two seedling throwing systems 20 are arranged one on the left side of the drone and the other on the right side of the drone.

[0109] Third, if Fig.12 As shown, the first axis is the heading axis, the second axis is the pitch axis or the roll axis, and the seedling racks 22 in the two seedling throwing systems 20 are arranged along the heading axis and on both sides of the pitch axis / roll axis. In other words, the seedling racks 22 in the two seedling throwing systems 20 are one on the upper side of the drone and the other on the lower side of the drone.

[0110] In this embodiment, when the number of seedling throwing systems 20 is more than three, the seedling throwing frames 22 of multiple seedling throwing systems 20 are arranged around the first axis. The O1 axis in the accompanying drawing illustrates the first axis, and the first axis can be one of the pitch axis, roll axis, and heading axis of the drone.

[0111] Take the case where the drone includes an odd number of seedling throwing systems 20 and the first axis is a heading axis. Fig.14 In the figure, the UAV includes three seedling throwing systems 20, and the seedling putting frames 22 of the three seedling throwing systems 20 are arranged around the heading axis. From the top view, the seedling putting frames 22 of the three seedling throwing systems 20 are arranged in a triangular manner. The seedling putting frames 22 of the three seedling throwing systems 20 move clockwise or counterclockwise at the same time to keep the center of gravity of the UAV from being excessively shifted.

[0112] Take the example of a drone including an even number of seedling throwing systems 20, and the first axis being the heading axis. As shown in Figure 15, the drone includes four seedling throwing systems 20, and the seedling putting frames 22 of the four seedling throwing systems 20 are arranged around the heading axis. From the top view, the seedling putting frames 22 of the four seedling throwing systems 20 are arranged in a square manner. The seedling putting frames 22 of the four seedling throwing systems 20 move clockwise or counterclockwise at the same time, or the seedling putting frames 22 located on opposite sides move in opposite directions, which can keep the overall center of gravity of the drone from being excessively shifted.

[0113] In some embodiments, the number of seedling throwing systems 20 is more than three, and the seedling racks 22 of the multiple seedling throwing systems 20 are arranged around the first axis of the drone. The seedling picker 231 is arranged close to the bottom edge of the seedling rack 22, and the seedling rack 22 is configured to be movable in a direction parallel to its bottom edge. When the number of seedling throwing systems 20 is more than three, the straight lines where the bottom edges of the multiple seedling racks 22 are located are combined to form a polygon, such as a triangle or a square, which is symmetrical about the second axis of the drone, and the second axis is perpendicular to the first axis. Exemplarily, the seedling racks 22 of the multiple seedling throwing systems 20 are arranged around the heading axis of the drone, and the polygon is symmetrical about the roll axis or pitch axis of the drone.

[0114] In some embodiments, the number of seedling throwing systems 20 is more than three, and the seedling throwing frames 22 of the plurality of seedling throwing systems 20 are arranged around the first axis. A sliding guide is arranged between the seedling throwing frame 22 and the body 10, and the sliding guide is a slide groove or a slide rail. The drone includes two seedling throwing systems 20, and the two sliding guides cooperating with the two seedling throwing systems 20 are symmetrical about the first axis. Fig.14 As shown, the UAV includes more than three seedling throwing systems 20, and a plurality of sliding guide members cooperating with the plurality of seedling throwing systems 20 are connected to form a polygonal shape, which is symmetrical about the second axis of the UAV, and the second axis is perpendicular to the first axis.

[0115] The body 10 includes a fuselage 11 and a plurality of tripods arranged below the fuselage 11. The fuselage 11 includes a platform and a rotor 111 installed on the platform. The plurality of tripods are used to support the fuselage 11 when the drone takes off and lands. All or most of the rice-laying frame 22 is arranged within the range of the drone tripod. Fig.10 , Fig.11 For example, the bottom of the seedling rack 22 is the seedling outlet, and the seedling taker 231 is used to take the seedlings at the bottom of the seedling rack 22. The seedlings are also thrown out at this position, so that the position of the seedling outlet of the seedling rack 22 is as close to the center of the drone as possible, reducing the influence of the wind field of the drone rotor 111 on the seedling throwing angle, thereby improving the accuracy of the control of the seedling throwing area. Please refer to Fig.10 , Fig.11 , Fig.12 , Figure 13-A1 , Figure 13-A2 The plurality of seedling placing racks 22 are all arranged on the inner side of the plurality of tripods. In other words, the entirety of the seedling placing rack 22 is located on the inner side of the outermost end of the tripod.

[0116] In other embodiments, the seedling placing rack 22 may also partially or completely extend beyond the tripod.

[0117] The seedling placing frame 22 includes a seedling placing surface. When performing the seedling placing operation, the entire seedlings to be separated, including a plurality of seedling plants 812 (e.g., a seedling tray 821 of a blanket seedling 81 or a pot seedling), are placed on the seedling placing surface. In some embodiments, the seedling placing surface is inclined. In some embodiments, the seedling placing surface is horizontally arranged.

[0118] Please refer to Figure 8 to Figure 15-B , the seedling placing surface is tilted from top to bottom relative to the heading axis of the drone, in other words, the seedling placing surface is tilted relative to the vertical direction. The tilted seedling placing surface can use the gravity to allow the blanket seedlings 81 or other types of seedlings to slide down, reducing the power consumption of the first drive device 24 used to continuously send the seedlings to the seedling taker 231, or the first drive device 24 specifically used to send the seedlings to the seedling taker 231 can be cancelled, which is beneficial to reducing the power consumption of the whole machine; the drone does not need to carry the first drive device 24 or reduce the load weight of the first drive device 24, which is beneficial for the drone to carry heavier and larger seedlings, or load other systems; and, Fig.10 , Fig.11 , Figure 13-A1 , Figure 13-B1 As shown, the seedling taking mechanism 23 can be arranged in a relatively lower position at this time, and the area for taking and throwing the seedlings can be as far away from the rotor 111 as possible to reduce the influence of the wind field of the rotor 111 on the throwing of the seedlings.

[0119] The inclination of the seedling placing surface is achieved by inclining the seedling placing frame 22. The seedling placing frame 22 includes a frame bottom plate and a frame side plate connected to the frame bottom plate. The frame bottom plate and the frame side plate form a seedling placing groove. The blanket seedling 81 seedling tray or the pot seedling seedling tray can be placed in the seedling placing groove. The seedling placing surface is the inner surface of the frame bottom plate. The frame bottom plate is tilted relative to the vertical direction to achieve the inclination of the seedling placing surface. By directly tilting the seedling placing frame 22 relative to the vertical direction, not only can the gravity be used to make the blanket seedling 81 slide down, reducing the power consumption of the whole machine, but also the space occupied by the seedling placing frame 22 on the horizontal width of the drone can be reduced, which is beneficial to the space utilization of the whole machine.

[0120] In order to support the inclined seedling rack 22, a first bracket 271 is provided between the seedling rack 22 and the body 10, and the first bracket 271 supports the seedling rack 22. In one embodiment, the seedling throwing system 20 includes a base 21, the base 21 is mounted on the drone body 10, one end of the first bracket 271 is connected to the base 21, and the other end is slidably connected to the seedling rack 22 through a connecting member 30, and the first bracket can support the seedling rack 22, and at the same time, the seedling rack 22 can move relative to the body 10. In other embodiments, the first bracket 271 is fixed or hinged to the seedling rack 22, the first bracket 271 is slidably connected to the base 21, and the first bracket 271 supports the seedling rack 22 while the seedling rack 22 can move relative to the body 10. In other embodiments, one end of the first bracket 271 can also be connected to the drone body 11, and the other end of the first bracket 271 is connected to the seedling rack 22. In other embodiments, one end of the first bracket 271 is connected to the rice seedling rack 22 , and the other end is directly connected to the machine body 10 .

[0121] In other embodiments, the inclination of the seedling placing surface can also be achieved by directly providing an inclined surface on the seedling placing frame 22 .

[0122] Among them, the seedling placing rack 22 is directly tilted to achieve the tilt of the seedling placing surface. Compared with the method of setting an inclined surface on the seedling placing rack 22, space can be left between adjacent seedling placing racks 22 for installing other mechanisms of the drone, thereby improving space utilization.

[0123] In some embodiments, the inclination directions of multiple rice seedling placing racks 22 are opposite. Multiple rice seedling placing surfaces may be located on the side of the rice seedling placing rack 22 away from the heading axis, that is, the rice seedling placing surfaces are all facing inward, or multiple rice seedling placing surfaces may be located on the side of the rice seedling placing rack 22 close to the heading axis, that is, the rice seedling placing surfaces are all facing outward.

[0124] The two seedling racks 22 are tilted and tilted in opposite directions, which is beneficial to making the drone structure more compact. Fig.10 , Figure 13-A1 , Figure 13-A2 In the figure, two seedling throwing systems 20 are arranged one after the other relative to the central axis of the drone body 11, and the seedling placing surface of the seedling placing frame 22 is arranged inclined relative to the vertical direction. The inclination directions of the seedling placing frames 22 in the two seedling throwing systems 20 are opposite, so that the seedling throwing system 20 under the drone body 11 has a compact structure and occupies a small space.

[0125] In some embodiments, the plant protection equipment includes two seedling throwing systems 20, and the two seedling throwing racks 22 are inclined inward from top to bottom, that is, the two seedling throwing surfaces are in different directions, and both seedling throwing surfaces are facing the inside of the drone. At this time, the seedling outlets at the bottom of the seedling throwing racks 22 are close to each other.

[0126] In some embodiments, the plant protection equipment includes two seedling throwing systems 20, two seedling placing frames 22 are tilted outward from top to bottom, the two seedling placing surfaces face different directions, and both face the outside of the drone, and correspondingly, the seedling takers 231 of the two seedling throwing systems 20 are respectively arranged on the outside of the two seedling placing frames 22, in other words, the seedling takers 231 are located on the side of the seedling placing frames 22 away from the center of the drone fuselage 11. In such an arrangement, the driving device used to drive the seedling placing frames 22 to move horizontally in the two seedling throwing systems 20 can share one, thereby reducing the number of driving components, reducing costs and complexity.

[0127] Fig.10 In the figure, the y / x direction refers to the y direction or the x direction. Taking the x direction as the direction consistent with the pitch axis and the y direction as the direction consistent with the roll axis as an example, the configuration of the rice seedling throwing system 20 is described as follows:

[0128] When the y / x direction refers to the x direction, the two seedling throwing systems 20 are arranged along the pitch axis of the drone, in other words, the seedling putting frames 22 of the two seedling throwing systems 20 are arranged one on the left and one on the right; wherein, the two seedling putting frames 22 can be arranged tilted or horizontally, and the tilting directions of the two seedling putting frames 22 can be the same or opposite when they are tilted. For example, the two seedling putting frames 22 are arranged tilted, and the seedlings on one seedling putting frame 22 are roughly facing the left side of the fuselage 11, and the seedlings on the other seedling putting frame 22 are roughly facing the right side of the fuselage 11.

[0129] When the y / x direction refers to the y direction, the two seedling throwing systems 20 are arranged along the roll axis of the drone, in other words, the seedling placing frames 22 of the two seedling throwing systems 20 are arranged one in front of the other; wherein the two seedling placing frames 22 can be arranged tilted or horizontally, and the tilting directions of the two seedling placing frames 22 can be the same or opposite when they are tilted. For example, the two seedling placing frames 22 are tilted, and the seedlings on one seedling placing frame 22 are generally oriented toward the direction of the nose of the drone, and the seedlings on the other seedling placing frame 22 are generally oriented toward the direction of the tail of the drone.

[0130] In some embodiments, Fig.11 As shown, Fig.11 The meaning of the y / x direction can be referred to above. Fig.10 According to the explanation, the plant protection equipment includes two seedling throwing systems 20, two seedling throwing racks 22 are inclined, and the seedling throwing racks 22 are inclined from top to bottom, and the two seedling throwing surfaces are oriented in the same direction. The seedling throwing surfaces of the two seedling throwing racks 22 can both face the nose direction of the UAV, or the seedling throwing surfaces of the two seedling throwing racks 22 can both face the tail direction of the UAV.

[0131] On the basis that the two seedling placing racks 22 have the same inclination direction, the bracket for installing the seedling placing rack 22 and the driving device for driving the seedling placing rack 22 in one seedling placing system 20 can be arranged above the other seedling placing system 20, so as to make full use of the space above at least one seedling taking device 231 and make the whole space more compact. Fig.11 As shown, the seedling throwing system 20 includes a first bracket 271 and a first driving device 24. The seedling putting frame 22 is connected to the body 10 through the first bracket 271, and the first driving device 24 is installed on the body 10. The first driving device 24 is used to drive the seedling putting frame 22 to move relative to the body 10; when the seedling putting surfaces of the two seedling putting frames 22 are both facing the nose of the drone, the first bracket 271 and the first driving device 24 close to the nose side are located above the seedling taker 231 of the adjacent seedling throwing system 20; when the seedling putting surfaces of the two seedling putting frames 22 are both facing the tail of the drone, the first bracket 271 and the first driving device 24 close to the tail side are located above the seedling taker 231 of the adjacent seedling throwing system 20.

[0132] In order to make the layout between adjacent seedling throwing systems 20 more reasonable when multiple seedling throwing systems 20 are arranged, in some embodiments, multiple seedling racks 22 are arranged along the first axis of the drone, and the first axis is one of the pitch axis, the roll axis, and the heading axis. The seedling taking mechanism 23 includes a seedling taker 231, and the seedling taker 231 is used to take out the seedlings on the seedling rack 22. Multiple seedling takers 231 are arranged on the same straight line, which is parallel to the first axis. Such an arrangement can make the coordination between each seedling throwing system 20 more compact. Taking the first axis as the roll axis of the drone, and the drone including two seedling throwing systems 20 as an example, the two seedling throwing systems 20 are arranged one after the other, and the connecting line between the seedling takers 231 of the two seedling throwing systems 20 is parallel to the roll axis of the drone. At this time, the seedling takers 231 of the two seedling throwing systems 20 are concentrated in one area, and the layout is more compact. Moreover, after the two seedling takers 231 have taken the seedlings, the seedlings can be thrown out in two directions roughly along a straight line.

[0133] The following describes how to set the rice seedling placing surface horizontally or substantially horizontally.

[0134] The seedling placing frame 22 includes a seedling placing surface, which is used to support the blanket seedling 81. The seedling placing surface is not marked in the drawings of the present invention, and the blanket seedling 81 is placed on the seedling placing surface. The seedling placing frame 22 is arranged horizontally or substantially horizontally. In other words, the angle between the seedling placing surface on the seedling placing frame 22 and the heading axis of the drone is between 0 degrees and 30 degrees. Since the seedling placing surface is arranged horizontally, the blanket seedling 81 is placed substantially horizontally on the seedling placing frame 22. When the drone is flying, the blanket seedling 81 has higher stability. When the drone encounters unexpected turbulent airflow in the air and causes a large shake, the seedling placing frame 22 is also easier to reliably support the blanket seedling 81, and the blanket seedling 81 that has not been thrown is not easy to accidentally fall from the seedling placing frame 22. When the seedling placing frame 22 is arranged horizontally, the seedling taking mechanism 23 is arranged on the outside of the seedling placing frame 22 in the horizontal direction. In order to continuously send the blanket seedling 81 to the seedling taker 231, the seedling throwing system 20 includes a seedling sending mechanism 28, which is used to send the blanket seedling 81 to the seedling taker 231.

[0135] In some embodiments, the seedling rack 22 is horizontally arranged, and the seedling placing surface is horizontal. Fig.12 , multiple seedling placing devices are arranged at intervals along the heading axis of the drone, and multiple seedling placing frames 22 are stacked along the heading axis of the drone. In other words, multiple seedling placing frames 22 are arranged in an up-and-down stacking manner. With this arrangement, the position in the middle of the drone tripod can be fully stacked to place the seedling placing frames 22. When the length and width of the blanket seedling 81 are large, this method of placing the blanket seedling 81 can more effectively utilize the space with a certain height in the tripod; and with this placement method, the seedling placing frames 22 can completely or substantially completely support the entire piece of seedlings from bottom to top, thereby improving the stability of the entire piece of seedlings. When the drone is shaking, the entire piece of seedlings is not easy to fall off, and the safety is high. Even when the wind field is complex, the seedlings can be stably cast.

[0136] Please refer to Figure 6 , Figure 7 , Fig.12 The seedling taking mechanism 23 is arranged on one side of the seedling placing frame 22 in the horizontal direction to take the horizontally placed seedlings, and the seedling taking mechanism 23 is located outside the seedling placing frame 22.

[0137] In some embodiments, the seedling taking mechanisms 23 in multiple seedling throwing systems 20 are arranged on the same side. In this case, the system for performing seedling taking and seedling throwing operations can avoid occupying too much space in the horizontal direction of the drone. Multiple seedling taking mechanisms 23 can be stacked vertically to fully utilize the vertical space. When the seedling taking mechanism 23 is arranged on the inner side of the drone tripod, the space inside the tripod can be fully utilized. In some embodiments, the seedling taking mechanisms 23 in adjacent seedling throwing systems 20 are arranged on opposite sides. Fig.12 In the embodiment, two seedling throwing systems 20 are included, and the seedling taking mechanisms 23 in the two seedling throwing systems 20 are located on opposite sides.

[0138] In some embodiments, a seedling throwing system 20 includes a seedling throwing frame 22 and at least one seedling taking mechanism 23, wherein the seedling throwing frame 22 includes a plurality of seedling throwing trays 222, and each seedling throwing tray 222 includes a horizontally arranged seedling throwing surface. The drone includes a plurality of such seedling throwing systems 20.

[0139] like Figure 7 The seedling placing frame 22 includes a main connecting frame 221 and a plurality of seedling placing trays 222. The main connecting frame 221 is installed on the body 10. The seedling placing trays 222 provide a position for placing seedlings. The seedling placing trays 222 are connected to the main connecting frame 221. The main connecting frame 221 supports the seedling placing trays 222. The plurality of seedling placing trays 222 are arranged at intervals along the heading axis of the drone. In this way, more seedlings can be stacked in the vertical direction to obtain a larger seedling carrying capacity, and the amount of seedlings that can be thrown by the drone in a single takeoff is increased. One of the seedling placing trays 222 in the seedling placing frame 22 is a seedling throwing position tray, and the seedling taking mechanism 23 is arranged on one side of the seedling throwing position tray in the horizontal direction. After the seedlings on the seedling throwing position tray are thrown, the seedlings on the seedling placing trays 222 of other layers can be sent to the layer where the seedling throwing position tray is located.

[0140] like Figure 7 The seedling tray 222 located at the bottom layer is the chassis, which is the aforementioned seedling throwing position tray, and the seedling tray 222 located above the chassis is the upper tray. The upper tray includes a tray frame and a bottom door 2221. A frame opening is formed below the tray frame. The bottom door 2221 is movably connected to the tray frame to open or close the frame opening. When the bottom door 2221 closes the frame opening, a seedling placing groove is formed between the tray frame and the bottom door 2221. When the bottom door 2221 opens the frame opening, the seedlings in the seedling placing groove can fall into the seedling tray 222 of the next layer. After the seedlings on the seedling tray 222 located at the bottom layer are completely taken out and thrown out, the bottom door 2221 of the seedling tray 222 of the second to last layer is opened, so that the blanket seedlings 81 above fall onto the seedling tray 222 of the bottom layer. Similarly, the blanket seedlings 81 on the seedling trays 222 of other layers can all fall downward through the opening of the bottom door 2221.

[0141] In this embodiment, the bottom door 2221 is an electrically controlled door, and the bottom door 2221 can be opened automatically to replenish the seedling blanket 81 in the lower seedling tray 821 .

[0142] In some embodiments, Figure 13-A1 , Figure 13-A2As shown, the seedling placing frames 22 of the multiple seedling throwing systems 20 are arranged along the roll axis or pitch axis of the drone. The seedling placing frame 22 includes a seedling placing surface, which faces the center of the drone fuselage 11. The seedlings are placed on the inner side of the seedling placing frame 22. Correspondingly, the seedling taking mechanism 23 is arranged on the side of the seedling placing frame 22 close to the center of the drone. In this way, after the seedling taking device 231 takes the seedlings, the wind field generated by the rotor 111 is prevented from affecting the thrown seedlings. In other words, the seedling placing surface is located on the side of the seedling placing frame 22 close to the direction axis, and the seedling taking mechanism 23 is arranged on the side of the seedling placing frame 22 close to the heading axis of the drone.

[0143] Figure 13-A1 , Figure 13-B1 , Figure 13-A2 , Figure 13-B1 In the figure, the UAV includes two seedling throwing systems 20, the seedling placing frame 22 is tilted inward from top to bottom, and the seedling taking mechanism 23 is arranged on one side of the seedling placing frame 22 close to the center of the UAV. The two seedling throwing systems 20 are respectively a first seedling throwing system 201 and a second seedling throwing system 202. The two seedling throwing systems 20 are arranged along the first direction of the UAV, and the seedling placing frame 22 of the seedling throwing system 20 is configured to be movable along the second direction of the UAV. The seedling taking device 231 of the first seedling throwing system 201 is a first seedling taking device 23101, and the second seedling throwing system 202 includes a second seedling taking device 23102.

[0144] The first seedling throwing system 201 and the second seedling throwing system 202 respectively include a plurality of first seedling takers 23101 and a second seedling taker 23102, wherein the plurality of first seedling takers 23101 are arranged along the second direction, and the plurality of second seedling takers 23102 are arranged along the second direction. In other embodiments, each seedling throwing system 20 may include only one seedling taker 231.

[0145] The distribution of the first seedling remover 23101 and the second seedling remover 23102 can be achieved in the following two ways:

[0146] Method 1: The first seedling remover 23101 and the second seedling remover 23102 are arranged side by side along the first direction.

[0147] like Figure 13-A1 Show, Figure 13-A2 for Figure 13-A1 In the top view, the seedling takers 231 on the left and right sides can be in the same vertical plane. During the operation, the left and right seedling takers 231 complete the operation of the same row of seedlings at the same time.

[0148] Method 2: The first seedling taker 23101 and the second seedling taker 23102 are arranged alternately along the second direction

[0149] like Figure 13-B1 As shown, Figure 13-B2 for Figure 13-B1In the top view, the seedling takers 231 on the left and right sides are staggered so that the seedling takers 231 are roughly in a straight line, thereby effectively reducing the space.

[0150] In some embodiments, the drone includes three seedling throwing systems 20, and the three seedling throwing systems 20 are arranged in a triangle. Fig.14 The UAV includes three seedling throwing systems 20, and the seedling placing frames 22 of the three seedling throwing systems 20 are arranged in a triangular manner from a top view. The seedling throwing systems 20 are fixed on the tripod of the UAV body 10 (the complete tripod is not shown in the figure). This arrangement is relatively compact and can accommodate multiple seedling throwing systems 20 in the limited space of the tripod. The lateral movement mechanism of each seedling throwing system 20 in the figure drives the seedling placing frame 22 to move, so that the seedling placing frames 22 of the three seedling throwing systems 20 move in a clockwise or counterclockwise direction to keep the center of gravity of the entire UAV from being excessively offset.

[0151] In some embodiments, the drone includes four seedling throwing systems 20, and the four seedling throwing systems 20 are distributed in a rectangular shape. As shown in Figure 15, the drone includes four seedling throwing systems 20, and the seedling racks 22 of the four seedling throwing systems 20 in the figure are arranged in a square form from a top view. In other embodiments, they can also be distributed in a rectangular or diamond shape. The two opposite seedling throwing systems 20 can work together to complete the operation of throwing a row of seedlings, thereby improving the operation efficiency. The seedling throwing system 20 in the figure is fixed on the tripod of the drone body 10 (the complete tripod is not shown in the figure). When the driving devices of the four seedling throwing systems 20 in the figure drive the seedling racks 22 to move, the seedling racks 22 in the two opposite seedling throwing systems 20 move in opposite directions to keep the center of gravity of the drone as a whole from being excessively offset.

[0152] The present invention provides a distribution mode of modules and components such as a seedling placing frame 22 and a seedling taking mechanism 23 in multiple seedling throwing systems 20 on the basis of configuring multiple sets of seedling throwing systems 20 for drones, which can not only realize the effects of multiple sets of seedling throwing systems 20 throwing seedlings at the same time and realizing the configuration of force offset, but also can adapt to different application scenarios, different operation routes of drones and other different needs in various situations through different distribution modes of different components, with a wide range of applications, strong practicality, and conducive to promotion and application. The drone of the present invention is suitable for throwing blanket seedlings 81, which conforms to the seedling preparation habits of the majority of farmers, and can maintain the flight stability of the drone when throwing blanket seedlings 81, with strong practicality, and conducive to promotion and application.

[0153] In the description of this article, it should be understood that the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0154] In the description of this specification, the description with reference to the terms "some embodiments", "examples", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0155] In addition, it should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0156] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the scope of protection of the present invention.

Claims

1. A drone, characterized in that: include: Body (10); A plurality of seedling throwing systems (20), wherein the seedling throwing systems (20) are installed on the machine body (10); the seedling throwing systems (20) comprise a seedling placing frame (22) and a seedling taking mechanism (23); the seedling placing frame (22) provides a seedling placing position, and the seedling taking mechanism (23) is used to take out the seedlings on the seedling placing frame (22).

2. The drone according to claim 1, characterized in that: The seedling placing frame (22) is configured to be movable relative to the machine body (10); when the seedling placing frame (22) moves relative to the machine body (10), the seedling taking mechanism (23) can take the seedlings from different areas on the seedling placing frame (22); Alternatively, the seedling taking mechanism (23) can move relative to the machine body (10); when the seedling taking mechanism (23) moves relative to the machine body (10), the seedling taking mechanism (23) can take the seedlings from different areas on the seedling placing frame (22).

3. The drone according to claim 1, characterized in that: A plurality of seedling placing frames (22) of the seedling placing system (20) are arranged along a first direction, and the seedling placing frames (22) are configured to be movable relative to the machine body (10) along a second direction; Alternatively, a plurality of seedling-casting frames (22) of the seedling-casting system (20) are arranged along a first direction, and the seedling-casting frames (22) are configured to be movable relative to the machine body (10) along the first direction.

4. The drone according to claim 1, characterized in that: Among the plurality of seedling throwing systems (20), the seedling putting frames (22) of a portion of the seedling throwing systems (20) are arranged on one side of the first axis, and the seedling putting frames (22) of another portion of the seedling throwing systems (20) are arranged on the other side of the first axis; Alternatively, a plurality of seedling placing frames (22) of the seedling placing system (20) are arranged around the first axis.

5. The drone according to claim 4, characterized in that: The first axis is one of the pitch axis, the roll axis, and the heading axis of the drone.

6. The drone according to claim 1, characterized in that: The machine body (10) comprises a fuselage (11) and a plurality of tripods arranged below the fuselage (11); the fuselage (11) comprises a rotor (111); and the rice seedling rack (22) is arranged on the inner side of the plurality of tripods.

7. The drone according to any one of claims 1 to 6, characterized in that: The seedling placing frame (22) comprises a seedling placing surface, and the seedling placing surface is arranged to be inclined from top to bottom relative to the heading axis of the drone.

8. The drone according to claim 7, characterized in that: A plurality of the seedling placing surfaces are all located on the side of the seedling placing frame (22) away from the heading axis; or a plurality of the seedling placing surfaces are all located on the side of the seedling placing frame (22) close to the heading axis; the seedling placing frame (22) is inclined in opposite directions.

9. The drone according to claim 8, characterized in that: The drone comprises a first driving device (24), the first driving device (24) being transmission-connected to the rice-planting frame (22), and the first driving device (24) being used for driving the rice-planting frame (22) to move relative to the machine body (10); When the plurality of rice seedling releasing surfaces are all located on the side of the rice seedling releasing frame (22) away from the heading axis, the first driving device (24) is arranged between the plurality of rice seedling releasing frames (22), and the first driving device (24) is transmission-connected to the plurality of rice seedling releasing frames (22).

10. The drone according to claim 7, characterized in that: The drone comprises two seedling-casting systems (20), and two seedling-casting frames (22) are arranged along the roll axis or the pitch axis of the drone; When the two rice-releasing frames (22) are arranged along the roll axis of the UAV, the rice-releasing surface of one rice-releasing frame (22) faces the nose of the UAV, and the rice-releasing surface of the other rice-releasing frame (22) faces the tail of the UAV; or, the rice-releasing surfaces of the two rice-releasing frames (22) both face the nose of the UAV; or, the rice-releasing surfaces of the two rice-releasing frames (22) both face the tail of the UAV; When the two rice-releasing frames (22) are arranged along the pitch axis of the UAV, the rice-releasing surface of one rice-releasing frame (22) faces the left side of the UAV, and the rice-releasing surface of the other rice-releasing frame (22) faces the right side of the UAV; or, the rice-releasing surfaces of the two rice-releasing frames (22) both face the left side of the UAV; or, the rice-releasing surfaces of the two rice-releasing frames (22) both face the right side of the UAV.

11. The drone according to claim 9, characterized in that: The seedling-casting system (20) comprises a first bracket (271) and a first driving device (24); the seedling-casting frame (22) is connected to the machine body (10) via the first bracket (271); the first driving device (24) is installed on the machine body (10); and the first driving device (24) is used to drive the seedling-casting frame (22) to move relative to the machine body (10); When the seedling placing surfaces of the two seedling placing frames (22) are both facing the nose of the drone, the first bracket (271) and the first driving device (24) close to the nose are located above the seedling taking mechanism (23) of the adjacent seedling placing system (20); When the seedling placing surfaces of the two seedling placing frames (22) are both facing the tail of the UAV, the first bracket (271) and the first driving device (24) close to the tail are located above the seedling taking mechanism (23) of the adjacent seedling placing system (20).

12. The drone according to claim 7, characterized in that: The seedling placing frame (22) of the seedling throwing system (20) is arranged along a first direction; the seedling taking mechanism (23) comprises a seedling taking device (231), and the seedling taking device (231) is used to take out the seedlings on the seedling placing frame (22); and a plurality of seedling taking devices (231) are arranged on the same straight line.

13. The drone according to claim 1, 2 or 6, characterized in that: The rice seedling placing frame (22) is arranged horizontally, a plurality of the rice seedling placing frames (22) are arranged at intervals along the heading axis of the unmanned aerial vehicle, and a plurality of the rice seedling placing frames (22) are stacked along the heading axis of the unmanned aerial vehicle.

14. The drone according to claim 13, characterized in that: The seedling taking mechanism (23) is arranged on one side of the seedling placing frame (22) in the horizontal direction; the seedling taking mechanisms (23) in a plurality of seedling throwing systems (20) are arranged on the same side, or the seedling taking mechanisms (23) in adjacent seedling throwing systems (20) are arranged on opposite sides.

15. The drone according to claim 1, 2 or 6, characterized in that: The seedling placing frame (22) comprises a main connecting frame (221) and a plurality of seedling placing trays (222) connected to the main connecting frame (221), wherein the seedling placing trays (222) provide positions for placing seedlings, and the seedling placing trays (222) are arranged horizontally; A plurality of seedling placing trays (222) are arranged at intervals along the heading axis of the drone; and the seedling taking mechanism (23) is arranged on one side in the horizontal direction of one of the seedling placing trays (222).

16. The drone according to any one of claim 15, characterized in that: The seedling placing tray (222) located at the bottom layer is a bottom tray, and the seedling placing tray (222) located above the bottom tray is an upper tray; the upper tray comprises a tray frame and a bottom door (2221), a frame opening is formed below the tray frame, and the bottom door (2221) is movably connected to the tray frame to open or close the frame opening; When the bottom door (2221) closes the frame opening, a seedling placing groove is formed between the tray frame and the bottom door (2221); when the bottom door (2221) opens the frame opening, the seedlings in the seedling placing groove can fall into the seedling placing tray (222) of the next layer.

17. The drone according to claim 1, 2 or 6, characterized in that: A plurality of seedling placing frames (22) of the seedling placing system (20) are arranged along the roll axis or the pitch axis of the drone; The seedling placing frame (22) comprises a seedling placing surface, and the seedling placing surface is located on a side of the seedling placing frame (22) close to the heading axis of the unmanned aerial vehicle; the seedling taking mechanism (23) is arranged on a side of the seedling placing frame (22) close to the heading axis.

18. The drone according to claim 17, characterized in that: The drone comprises two seedling throwing systems (20), the two seedling throwing systems (20) being respectively a first seedling throwing system (201) and a second seedling throwing system (202); the two seedling throwing systems (20) are arranged along a first direction of the drone, and the seedling throwing frames (22) of the seedling throwing systems (20) are configured to be movable along a second direction of the drone; The seedling taker (231) of the first seedling throwing system (201) is a first seedling taker (23101), and the second seedling throwing system (202) includes a second seedling taker (23102); the first seedling taker (23101) and the second seedling taker (23102) are arranged side by side along the first direction, or the first seedling taker (23101) and the second seedling taker (23102) are arranged alternately along the second direction.

19. The drone according to claim 4 or 5, characterized in that: The drone comprises three seedling throwing systems (20), and the seedling throwing frames (22) of the three seedling throwing systems (20) are arranged in a triangle; Alternatively, the drone comprises four of the seedling throwing systems (20), and the seedling throwing frames (22) of the four seedling throwing systems (20) are distributed in a rectangular shape.

20. The drone according to any one of claims 1 to 6, characterized in that: The seedling throwing system (20) further comprises a base (21) and a first driving device (24), wherein the base (21) is connected to the machine body (10); The seedling-releasing frame (22) is movably connected to the base (21), and the seedling-releasing frame (22) can move relative to the base (21); a first driving device (24) is installed on the base (21), and the first driving device (24) is connected to the seedling-releasing frame (22), and the first driving device (24) is used to drive the seedling-releasing frame (22) to move; the seedling-taking mechanism (23) comprises a seedling-taking device (231), and the seedling-taking device (231) is installed on the base (21).

21. The drone according to claim 20, characterized in that: The seedling throwing system (20) further comprises an opening plate (26), wherein the opening plate (26) is connected to the base (21); One end of the seedling placing frame (22) is a seedling outlet end, the seedling outlet end is provided with a frame opening, and the opening plate (26) is arranged on the side of the seedling outlet end; the seedling placing frame (22) can move relative to the opening plate (26); the opening plate (26) is provided with a seedling taking opening (263), and the seedling taking device (231) is inserted into the seedling taking opening (263) when taking seedlings.

22. The drone according to claim 21, characterized in that: The seedling placing frame (22) comprises a frame bottom plate and a frame side plate connected to each other, the frame side plates are arranged at two ends of the frame bottom plate in a first direction, and a seedling placing groove is formed between the frame bottom plate and the frame side plates; frame openings communicating with the seedling placing groove are arranged at two ends of the frame bottom plate in a second direction; the opening plate (26) is arranged on one side of the frame bottom plate in the second direction; The seedling placing frame (22) is slidably matched with the opening plate (26).

23. The drone according to claim 20, characterized in that: The seedling taking mechanism (23) comprises a rotating disk (232) and a seedling taking device (231), and the seedling throwing system (20) comprises a second driving device (25); The turntable (232) is rotatably mounted on the base (21); the seedling remover (231) is a seedling remover blade head; the seedling remover blade head is mounted on the turntable (232); at least a portion of the seedling remover blade head protrudes relative to the outer peripheral surface of the turntable (232); the second driving device (25) is used to drive the turntable (232) to rotate, thereby driving the seedling remover blade head to rotate, so that the seedling remover blade head approaches or moves away from the seedlings on the seedling placing rack (22).

24. The drone according to claim 21, characterized in that: The seedling placing frame (22) comprises a plurality of seedling placing trays (222); the opening plate (26) is provided with a plurality of seedling taking openings (263), and at least one seedling taking opening (263) is arranged on the side of the seedling placing tray (222); the seedling throwing system (20) comprises a plurality of seedling taking mechanisms (23), and at least one seedling taking mechanism (23) is arranged on the side of each seedling placing tray (222); The seedling throwing system (20) comprises a second driving device (25); one second driving device (25) is transmission-connected to a plurality of the seedling taking mechanisms (23), or a plurality of the second driving devices (25) are transmission-connected to a plurality of the seedling taking mechanisms (23) respectively; the second driving device (25) is used to drive the seedling taking mechanisms (23) to approach or move away from the seedling taking opening (263).

25. The drone according to claim 20, characterized in that: The seedling throwing system (20) comprises a seedling sending mechanism (28), and the seedling sending mechanism (28) is arranged on the seedling placing frame (22); one end of the seedling placing frame (22) is a seedling outlet end, and the seedling outlet end is provided with a frame opening, and the seedling taking mechanism (23) is arranged on the side of the frame opening; the seedling sending mechanism (28) is used to send the seedlings to the frame opening.

26. The drone according to claim 20, characterized in that: The seedling-casting system (20) comprises a first bracket (271); the first bracket (271) is mounted on the base (21), and the first bracket (271) is slidably connected to the seedling-casting frame (22); the first bracket (271) supports the seedling-casting frame (22).

27. The drone according to claim 20, characterized in that: The seedling-casting system (20) comprises a second bracket (272), the first driving device (24) is installed on the base (21), and the first driving device (24) is connected to the seedling-casting frame (22) via the second bracket (272).

28. The drone according to any one of claims 21 to 23, characterized in that: The seedling throwing system (20) further comprises a third bracket (273), wherein the third bracket (273) is connected to the base (21), and the opening plate (26) is connected to the third bracket (273); the third bracket (273) supports the opening plate (26).

29. The drone according to claim 23, characterized in that: The seedling throwing system (20) comprises a fourth bracket (274), the fourth bracket (274) is connected to the base (21), and the rotating disk (232) is rotatably mounted on the fourth bracket (274).

30. The drone according to claim 20, characterized in that: The machine body (10) comprises a body (11) and a frame (12); the body (11) is connected to the frame (12) and is located above the frame (12); and the seedling throwing system (20) is installed on the frame (12) or the body (11).

31. A method for controlling rice seedlings cast by an unmanned aerial vehicle, characterized in that: The method for controlling rice seedlings cast by a drone is applied to the drone according to any one of claims 1 to 30; the method for controlling rice seedlings cast by a drone comprises: A plurality of movable structures in the seedling throwing system (20) are controlled to move along a preset path, wherein the movable structures are seedling placing racks (22) or seedling taking mechanisms (23).

32. The method for controlling rice seedlings cast by a drone according to claim 31, characterized in that: The drone comprises two seedling throwing systems (20), the two seedling throwing systems (20) being respectively a first seedling throwing system (201) and a second seedling throwing system (202); The controlling of the movable structures in the plurality of seedling throwing systems (20) to move along a preset path comprises: controlling a first movable structure to move along a first preset path, and controlling a second movable structure to move along a second preset path, wherein the first preset path comprises a first direction, and the second preset path comprises a second direction, and the first direction is opposite to the second direction.

33. The method for controlling the rice seedlings of a drone according to claim 31, characterized in that: The drone comprises N seedling throwing systems (20), where N is an integer greater than or equal to three; the movable structures in the N seedling throwing systems (20) are arranged around a first axis; The controlling of the movable structures in the plurality of seedling throwing systems (20) to move along a preset path comprises: controlling the plurality of movable structures to move respectively along a first preset path, a second preset path ... an Nth preset path, wherein the first preset path, the second preset path ... the Nth preset path form a circular path.

34. The method for controlling the transplanting of rice seedlings by an unmanned aerial vehicle according to claim 31, characterized in that: The drone comprises N seedling throwing systems (20), where N is an even number greater than or equal to four; the movable structures in the N seedling throwing systems (20) are arranged around a first axis; The controlling of the movable structures in the plurality of seedling throwing systems (20) to move along a preset path comprises: the preset paths of two movable structures symmetrical about the first axis are parallel and in opposite directions.

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