An unmanned aerial vehicle and unmanned aerial vehicle seedling throwing control method

Abstract

The application discloses an unmanned plane and a seedling throwing control method of the unmanned plane, and belongs to the technical field of plant protection equipment. The unmanned plane comprises a body and a plurality of seedling throwing systems, and the seedling throwing systems are installed on the 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 the seedlings on the seedling placing frame. The seedling throwing control method of the unmanned plane comprises the following steps: controlling a movable structure in the plurality of seedling throwing systems to move along a preset path, wherein the movable structure is the seedling placing frame or the seedling taking mechanism. The unmanned plane is provided with at least two sets of seedling throwing systems, so that the utilization rate of the load space of the unmanned plane is improved, and the at least two sets of seedling throwing systems can work simultaneously to improve the seedling throwing efficiency. According to the seedling throwing control method of the unmanned plane, the moving path of the movable structure in the plurality of seedling throwing systems is controlled, the influence of seedling throwing operation on the flight stability of the unmanned plane is reduced, and the seedling throwing effect is improved.

Description

Technical Field

[0001] This invention relates to the field of plant protection equipment technology, and in particular to a drone and a method for controlling drone rice transplanting. Background Technology

[0002] In agricultural planting, some crops require seedling cultivation before planting. For mechanized seedling planting, related technologies rely on ground-based agricultural machinery for transplanting or throwing seedlings. However, this method requires reserved ground space for the machinery, resulting in low space utilization due to site limitations. Some technologies also include drones equipped with seedling throwing systems, but these also suffer from low operational efficiency and are not suitable for widespread application. Summary of the Invention

[0003] One of the objectives of this invention is to provide a drone equipped with at least two sets of rice-throwing equipment, which can improve space utilization, increase operational efficiency, and help maintain drone flight stability.

[0004] The second objective of this invention is to provide a method for controlling rice seedling throwing by a drone, which reduces the impact of rice seedling throwing on the flight stability of the drone by controlling the movement path of movable structures in multiple rice seedling throwing systems.

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

[0006] A drone, comprising:

[0007] Organism;

[0008] Multiple seedling throwing systems are installed on the machine body; each seedling throwing system includes a seedling placing frame and a seedling taking mechanism, wherein the seedling placing frame provides a seedling placement position and the seedling taking mechanism is used to take the seedlings off the seedling placing frame.

[0009] To achieve the second objective mentioned above, the present invention adopts the following technical solution:

[0010] A method for controlling rice transplanting by a drone, wherein the method is applied to the drone described in the above scheme; the method includes:

[0011] Control the movement of multiple movable structures in the seedling throwing system along a preset path, wherein the movable structure is a seedling placing frame or a seedling picking mechanism.

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

[0013] This drone-based rice-throwing control method improves the rice-throwing effect by controlling the movement paths of movable structures in multiple rice-throwing systems. Attached Figure Description

[0014] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0015] Figure 1-A One of the illustrations for the blanket seedling;

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

[0017] Figure 2 This is one of the structural schematic diagrams of the rice transplanting system described in an embodiment of the present invention;

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

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

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

[0021] Figure 6 This is a second schematic diagram of the structure of the rice transplanting system described in an embodiment of the present invention;

[0022] Figure 7 This is the third schematic diagram of the structure of the rice transplanting system described in this embodiment of the invention;

[0023] Figure 8 This is one of the structural schematic diagrams of the UAV described in the embodiments of the present invention;

[0024] Figure 9 This is a second schematic diagram of the structure of the UAV described in an embodiment of the present invention;

[0025] Figure 10 This is the third structural schematic diagram of the UAV described in the embodiment of the present invention;

[0026] Figure 11 This is the fourth structural schematic diagram of the UAV described in the embodiment of the present invention;

[0027] Figure 12 This is the fifth structural schematic diagram of the UAV described in the embodiment of the present invention;

[0028] Figure 13-A1 This is the sixth structural schematic diagram of the UAV described in the 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 the seventh structural schematic diagram of the UAV described in the embodiment of the present invention;

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

[0032] Figure 14 This is the eighth structural schematic diagram of the UAV described in the embodiment of the present invention (the diagram illustrates the first movement mode of the rice seedling release frame of multiple rice seedling throwing systems);

[0033] Figure 15 is the eighth structural schematic diagram of the UAV described in the embodiment of the present invention (the figure shows the second movement mode of the rice seedling release frame of multiple rice seedling throwing systems);

[0034] Figure 16 This is the ninth structural schematic diagram of the UAV described in the embodiment of the present invention;

[0035] Figure 17 This is a schematic diagram of a seedling-collecting method of the seedling-throwing system of the UAV described in an embodiment of the present invention;

[0036] Figure 18-A This is the second illustration of a blanket seedling;

[0037] Figure 18-B For the reason Figure 18-A Single seedlings obtained by cutting the blanket seedlings in the process;

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

[0039] In the diagram: 10. Airframe; 11. Fuselage; 111. Rotor; 12. Frame; 20. Rice seedling throwing system; 201. First rice seedling throwing system; 202. Second rice seedling throwing system; 21. Base; 22. Rice seedling release frame; 221. Main connecting frame; 222. Rice seedling release tray; 2221. Bottom door; 23. Rice seedling picking mechanism; 231. Rice seedling picker; 23101. First rice seedling picker; 23102. Second rice seedling picker; 232. Rotor 24. Tray; 25. First drive device; 26. Second drive device; 27. Opening plate; 261. Bottom plate; 262. Back plate; 263. Seedling inlet; 271. First support; 272. Second support; 273. Third support; 274. Fourth support; 28. Seedling delivery mechanism; 30. Connector; 81. Seedling mat; 811. Mat base; 812. Seedling plant; 821. Seedling tray; 822. Groove. Detailed Implementation

[0040] 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 with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected" and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0043] For mechanized rice seedling cultivation, relevant technologies only cover two planting methods: transplanting and broadcasting. Transplanting refers to planting seedlings by inserting them into a field after they have grown; broadcasting refers to scattering seedlings across the field after they have grown. Broadcasting can improve operational efficiency to some extent compared to transplanting. However, plant protection equipment equipped with broadcasting systems still faces many limitations in application, resulting in a limited scope of application.

[0044] In related technologies, plant protection equipment equipped with a rice transplanting system generally has the following problems:

[0045] First, for ground-based agricultural machinery (plant protection vehicles) equipped with rice-throwing systems, sufficient driving space needs to be reserved on the ground during operation. This results in limited utilization of planting space and significant terrain limitations. Second, while some patents disclose solutions for mounting rice-throwing systems on drones, these patents lack practicality and are practically impossible to implement, hindering widespread application. Third, some technologies mount rice-throwing systems on drones, but these systems have specific requirements regarding seedling type, only allowing the throwing of non-mat seedlings (such as potted seedlings). However, farmers primarily use mat seedlings, and pot seedling cultivation is not widespread, making drones equipped with rice-throwing systems in these technologies unsuitable for widespread application.

[0046] in, Figure 1-A , Figure 18-A The diagram illustrates a blanket seedling 81. During blanket seedling cultivation, the blanket seedling 81 includes a bottom blanket base 811 and numerous 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 within the blanket base 811 are intertwined, therefore, the blanket seedling 81 needs to be cut during planting, separating the block of blanket seedlings 81 into multiple individual seedlings. Since agricultural rice transplanters are currently the mainstream and widely used rice planting machinery, farmers primarily use blanket seedlings 81 for seedling cultivation. Pot seedlings, i.e., non-blanket seedlings... Figure 1-B The diagram illustrates a seedling tray 821 for potted seedlings. The seedling tray 821 has several grooves 822 evenly distributed on it. Each groove 822 has an opening at the top, and each groove 822 contains one seedling. Each groove 822 has a hole at the bottom. A needle can be inserted into the groove 822 through the hole at the bottom to push the seedling out for transplanting. However, this method of seedling cultivation is not widespread.

[0047] This invention proposes a drone and a drone rice-throwing control method, which is configured with at least two rice-throwing systems 20. Firstly, this improves the utilization rate of the drone's payload space. Secondly, multiple rice-throwing systems 20 can work simultaneously to improve rice-throwing efficiency. Thirdly, the multiple rice-throwing systems 20 provide the hardware conditions for the drone to move according to certain rules through movable structures within the multiple systems, either under ground control or automatic control. While multiple systems 20 are simultaneously performing rice-throwing operations, forces are canceled out, preventing the drone from tilting due to the drone's center of gravity deviating from a preset position when a single system 20 moves. Fourthly, the drone of this invention can be used to throw rice onto seedlings 81, and can also be used to throw rice onto non-seedlings. Even when the seedling rack 22 or the seedling retrieval mechanism 23 needs to move laterally to retrieve the seedlings 81, the simultaneous operation of multiple rice-throwing systems 20 can cancel out forces and maintain the overall stability of the drone, eliminating the need for a dedicated counterweight system to maintain balance. This unmanned aerial vehicle (UAV) rice-throwing control method controls the movement paths of movable structures in multiple rice-throwing systems 20. On the one hand, it improves rice-throwing efficiency by controlling multiple rice-throwing systems 20 to perform rice-throwing operations simultaneously. On the other hand, by controlling the movement paths of movable structures in multiple rice-throwing systems 20, it reduces the impact of the rice-throwing system 20 on the center of gravity during operation while ensuring that multiple rice-throwing systems 20 can throw rice simultaneously, thus ensuring the stability of the UAV's flight attitude and guaranteeing the rice-throwing effect.

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

[0049] To facilitate the description of the configuration of the rice-throwing system on the drone, Figure 19 This diagram illustrates the drone's pitch axis, roll axis (also known as yaw axis), and yaw axis. It should be noted that... Figure 19 Used only to illustrate the pitch, roll, and yaw axes of the drone. Figure 19 The rice transplanting system is not shown in the diagram. Figure 19 The wing configuration, fuselage structure, and payload of the UAV are not limitations of this design. The pitch, roll, and yaw axes are imaginary lines passing through the center of the UAV. Please refer to... Figures 2 to 19 The structure of the drone is described below.

[0050] The drone includes a body 10 and multiple seedling throwing systems 20, which may be two or more. The seedling throwing systems 20 are mounted on the body 10 and are devices used to remove seedlings from the seedling tray 821 and throw them to the ground.

[0051] The rice seedling throwing system 20 includes a seedling placing frame 22 and a seedling picking mechanism 23. The seedling placing frame 22 includes a seedling placement area, which provides a location for placing seedlings. The seedling picking mechanism 23 includes a seedling picker 231. During its movement, the seedling picker 231 removes individual seedlings from the seedling placing frame 22 by cutting or pushing. The removed seedlings can be thrown or dropped into the field by free fall, wind blowing, centrifugal throwing, or ejection. The rice seedling throwing system 20 has an operating state. When the rice seedling throwing system 20 is in operating state, the seedling placing frame 22 and the seedling picking mechanism 23 move relative to each other, so that the seedling picker 231 corresponds to different positions on the seedling placing frame 22, allowing the seedling picker 231 to pick seedlings from different areas on the seedling placing frame 22.

[0052] When the seedling picker 231 is configured as a seedling picker blade, it can cut and throw the seedlings 81. (Refer to...) Figure 17 Taking the example of the rice-laying frame 22 moving relative to the machine body 10 and relative to the seedling picker 231 along the x-direction, the seedling throwing method is explained as follows: The seedling blanket 81 is placed on the rice-laying frame 22. During the throwing operation, the seedling picker 231 is aligned with area A11 of the rice-laying frame 22. The seedling picker 231 cuts the seedling blanket 81 in area A11, removing the individual seedlings. Centrifugal force and gravity are used to throw the individual seedlings out. Then, the distance the rice-laying frame 22 moves along the x-direction is controlled to... The seedling picker 231 then aligns with the A12 area on the seedling rack 22, which is adjacent to the A11 area. The seedling picker 231 cuts the seedlings 81 in the A12 area, removes the individual seedlings in A12 and throws them out. The steps of moving the seedling rack 22 horizontally and the seedling picker 231 cutting are repeated until the seedlings in the first row of the seedling rack 22 are cut and thrown out. Then the aforementioned steps are repeated until the seedlings in the second row, third row... Nth row on the seedling rack 22 are cut and thrown out. Figure 18-A This is a side view of the entire 81st carpet seedling. Figure 18-B The image shows a single seedling that has been cut out.

[0053] In this invention, the unmanned aerial vehicle (UAV) can have its seedling release frame 22 move laterally relative to the seedling picker 231, or the seedling picker 231 can move laterally relative to the seedling release frame 22. By using different seedling pickers 231, the needs of picking and throwing both mat seedlings 81 and pot seedlings can be met. When the seedling picker 231 is configured as a seedling pickering blade, it can cut and throw individual seedlings of mat seedlings 81 with intertwined roots, meeting the need for throwing mat seedlings 81 by UAV. Of course, when the seedling picker 231 is configured as a seedling pickering needle, it can also push individual seedlings in each unit of the seedling tray to throw individual seedlings of pot seedlings divided into many units.

[0054] The drone of the present invention is equipped with a rice-throwing system 20. When the drone throws rice seedlings, it does not need to reserve space for the agricultural machinery to travel, compared with the ground-based agricultural machinery. It is less restricted by terrain and ground space, can be applied to more scenarios, and is more efficient.

[0055] When configuring a seedling throwing system 20 on a drone, the inventors need to configure a movable seedling release frame 22 or a seedling retrieval mechanism 23. Based on this, they found that when the drone is equipped with only one seedling throwing system 20, if the seedling release frame 22 is moved to make relative movement between the seedling release frame 22 and the seedling retrieval mechanism 23, the weight of the seedling release frame 22 plus the seedlings 81 is relatively large. When the seedling release frame 22 moves to one side of the drone, the center of gravity of the drone will be biased to that side, and the body 10 of the drone will tilt, affecting the drone's attitude. If the seedling retrieval mechanism 23 is moved to make relative movement between the seedling release frame 22 and the seedling retrieval mechanism 23, the weight of the seedling retrieval mechanism 23 may also cause the drone to tilt when the seedling retrieval mechanism 23 moves to one side of the drone.

[0056] The drone of the present invention, by configuring multiple seed-throwing systems 20, has several advantages. First, these systems can operate simultaneously. During operation, multiple seed-laying frames 22 or seed-collecting mechanisms 23 within each system move simultaneously to counteract forces and overcome the drone's tilting problem caused by the movement of a single seed-laying frame 22 or seed-collecting mechanism 23, thereby improving the drone's operational stability. For example, the plant protection equipment is configured with two seed-throwing systems 20. During seed-throwing operations, the seed-laying frames 22 move. In one system, the seed-laying frame 22 moves to the left of the drone, while in the other, it moves to the right. This ensures that the load on both sides of the drone's center remains relatively consistent, maintaining the drone's stable attitude and preventing excessive shift in the drone's center of gravity that could affect flight control. Second, it allows for more efficient use of the drone's payload space, avoiding wasted space and maximizing seed-throwing efficiency. Third, the simultaneous operation of multiple seed-throwing systems 20 further enhances seed-throwing efficiency.

[0057] Based on a drone with multiple rice-throwing systems 20, this invention also proposes a drone rice-throwing control method, which is described below.

[0058] The control methods for unmanned aerial vehicle (UAV) rice transplanting include:

[0059] Movement steps: Control the movable structure in the multiple seedling throwing systems 20 to move along a preset path. The movable structure is the seedling throwing frame 22.

[0060] Seedling removal procedure: Control the seedling removal mechanism 23 to remove the seedlings from the seedling rack 22.

[0061] For example, when the number of rice-throwing systems 20 is even, during the movement step, two movable structures can be controlled to move in opposite directions. When the number of rice-throwing systems 20 is even or odd, during the movement step, multiple movable structures can be controlled to move clockwise or counterclockwise. By having multiple rice-throwing systems 20 work simultaneously, the forces exerted by the multiple movable structures during movement can be offset, avoiding the problem of the drone tilting due to excessive load on one side, reducing the impact of rice-throwing operations on the drone's flight stability, and improving the rice-throwing effect.

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

[0063] In one embodiment, the seedling picking step, the moving step, the seedling picking step, and the moving step are performed alternately and repeatedly. Taking an example where the drone includes two seedling throwing systems 20 and controls the movement of the seedling throwing frame 22 during movement:

[0064] Seedling removal steps: Control the first seedling removal mechanism 23 to remove seedlings from the first seedling release frame 22 in the first area; control the second seedling removal mechanism 23 to remove seedlings from the first seedling release frame 22 in the first area.

[0065] Movement steps: Control the first seedling release frame 22 to move along the first path, and at the same time, control the second seedling picking mechanism 23 to move along the second path, so that the first seedling picking mechanism 23 is aligned with the second area of ​​the first seedling release frame 22, and the second seedling picking mechanism 23 is aligned with the second area of ​​the second seedling release frame 22.

[0066] Seedling removal steps: Control the first seedling removal mechanism 23 to remove seedlings from the second area of ​​the first seedling release frame 22, and control the second seedling removal mechanism 23 to remove seedlings from the second area of ​​the first seedling release frame 22;

[0067] Moving steps: The same logic applies.

[0068] The aforementioned first and second paths are preset paths, which include route information and movement direction information. These preset paths are used to pre-set the movement paths of the movable structures within the UAV, which includes multiple rice-throwing systems 20. Therefore, during rice-throwing operations, multiple movable structures can move along different preset paths, causing the forces exerted by the movement on the UAV's center of gravity to cancel each other out. This keeps the UAV's center of gravity at a preset position, such as maintaining a horizontal attitude or other attitudes, meeting the attitude requirements during the UAV's rice-throwing process. This helps maintain the UAV's flight stability and improves the rice-throwing effect.

[0069] In one embodiment, the UAV includes two seedling throwing systems 20. The preset path of the first seedling release frame 22 in the first seedling throwing system 201 includes first route information and first direction information. The preset path of the second seedling release frame 22 in the second seedling throwing system 202 includes second route information and second direction information. The first and second routes are parallel, and the first and second directions are opposite. For example, the first and second seedling release frames 22 are arranged along the pitch axis of the UAV. During seedling throwing, the first seedling release frame 22 moves forward in a direction parallel to the roll axis of the UAV, and the second seedling release frame 22 moves backward in a direction parallel to the roll axis of the UAV. This overcomes the problem of instability in the UAV's center of gravity caused by the movement of a single seedling release frame 22 in a single seedling throwing system 20, especially when the seedlings are heavily loaded, maintaining the stability of the UAV. It also ensures that the load on both sides of the UAV's center remains relatively consistent, preventing excessive shift in the overall center of gravity of the UAV from affecting flight control.

[0070] In one embodiment, the drone includes N rice-throwing systems 20, where N is an integer greater than or equal to three. Movable structures within the N rice-throwing systems 20 are arranged around a first axis, which can be one of the drone's roll axis, pitch axis, or yaw axis, or other axes. Controlling the movable structures within the multiple rice-throwing systems 20 to move along preset paths includes controlling the multiple movable structures to move along a first preset path, a second preset path, ..., an Nth preset path, where the first preset path, the second preset path, ..., the Nth preset path form a circular path. Figure 14 , Figure 15-A , Figure 15-B As shown, the rice-throwing frames 22 of the multiple rice-throwing systems 20 in the figure can move clockwise or counterclockwise to keep the overall center of gravity of the drone from shifting too much.

[0071] Figure 14 In the figure, the drone includes three rice-throwing 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 movement direction of the three rice-throwing frames 22 in the preset path. Figure 15-A , 15-B The drone includes four rice-throwing systems 20. The dotted lines in the figure indicate the first route information 71, second route information 72, third route information 73, and fourth route information 74 for the first, second, third, and fourth preset paths. The four arrows in the figure indicate the movement direction of the four rice-throwing frames 22 within the preset paths. It should be noted that the attached figure illustrates the case where the preset path is a straight line. In other embodiments, the preset path can also be a curved path, a combination of curves and straight lines, or a combination of multiple straight line segments.

[0072] In one embodiment, the drone includes N rice-throwing systems 20, where N is an even number greater than or equal to four. Movable structures within the N rice-throwing systems 20 are arranged around a first axis, which can be one of the drone's roll axis, pitch axis, or yaw axis, or other axes. Controlling the movable structures within the multiple rice-throwing systems 20 to move along a preset path includes ensuring that the preset paths of two movable structures symmetrical about the first axis are parallel and in opposite directions. For example... Figure 15-B As shown, the two seedling release frames 22 at the top and bottom move in opposite directions, and the two seedling release frames 22 at the left and right move in opposite directions to keep the overall center of gravity of the drone from shifting too much.

[0073] In one embodiment, before controlling multiple movable structures to move along a preset path, the UAV rice-throwing control method further includes: receiving a rice-throwing signal. Receiving the rice-throwing signal may be receiving a start-up signal sent by a ground remote controller or a base station. In other embodiments, before controlling multiple movable structures to move along a preset path, the UAV rice-throwing control method further includes: acquiring and processing first data, where the first data is UAV position data or UAV attitude data. Taking UAV position data as an example, when the UAV flies to one or more of the planar coordinates and altitude coordinates that meet preset requirements, the aforementioned movement step and rice-picking step are executed.

[0074] To facilitate understanding of drone-based rice seedling throwing operations, the structure of the rice seedling throwing system 20 mounted on the drone will be described below.

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

[0076] The drone's body 10 includes a fuselage 11 and a frame 12. The fuselage 11 includes a rotor system 111, and the frame 12 includes multiple tripods. The rice-throwing system 20 is mounted on the fuselage 11 or the frame 12 via a base 21. In other embodiments, the various mechanisms in the rice-throwing system 20 can also be directly mounted on the fuselage 11 or the frame 12.

[0077] The seedling-laying frame 22 provides a location for placing seedlings. The seedling-laying frame 22 and the seedling-collecting mechanism 23 are mounted on the base 21. The seedling-laying frame 22 can move laterally on the base 21, allowing the seedling-collecting mechanism 23 to collect seedlings from multiple areas laterally distributed on the seedling-laying frame 22. The seedling-laying frame 22 is movably connected to the base 21, and can move relative to the base 21, thereby moving relative to the machine body 10. A first drive device 24 is mounted on the base 21 or the machine body 10, and is drively connected to the seedling-laying frame 22. The first drive device 24 drives the seedling-laying frame 22 to move linearly.

[0078] In some embodiments, the seedling-laying frame 22 can move along a first direction, and the seedling-taking mechanism 23 is fixed in position along the first direction. This allows the seedling-taking mechanism 23 to take seedlings from the first row of seedlings in area A11 after the seedling-taking mechanism 23 has completed taking seedlings from the first row of seedlings in area A12. One end of the seedling-laying frame 22 is a seedling-exit end with an opening. The seedling-taking mechanism 23 is positioned to the side of this opening to take seedlings through it. This configuration of the seedling-laying frame 22 and the seedling-taking mechanism 23 facilitates the taking of seedlings from the seedlings on the seedling-taking mechanism 23 from the seedlings on the seedling-laying frame 22.

[0079] However, in some applications, the inventors discovered that when the seedling picker 231 picks up the first row of seedlings, it is inconvenient for the picker 231 to pick up the seedlings if the seedling rack 22 needs to support the first row of seedlings. Taking the seedlings as blanket seedlings 81 and the seedling picker 231 as a seedling picker blade as an example, when picking up the seedlings, the seedling picker blade needs to be used to cut the first row of blanket seedlings 81. However, if the seedling rack 22 is to be supported by the first row of seedlings, the seedling picker blade needs to be installed on the side of the seedlings facing away from the seedling rack 22. In this case, the seedling picker 231 will occupy space, which is not conducive to the side-by-side arrangement of multiple seedling racks 22. Furthermore, the seedling picker blade may scrape the seedling rack 22 when picking up the seedlings, making it inconvenient to cut. The inventors also discovered that, in order to facilitate the seedling picker 231 in picking up the first row of seedlings, if the first row of seedlings is sent out of the seedling rack 22 through the seedling feeding mechanism 28 or other means, although it can provide a larger space to prevent the seedling rack 22 from blocking the seedling picker 231 from picking up the first row of seedlings, the first row of seedlings is not supported and its position is unstable, and it is even easy for the seedlings to slip out and fall. The inventors also discovered that if a baffle is set at the seedling exit end of the seedling rack 22 to prevent the seedlings from slipping out of the seedling rack 22, the baffle will block the seedling picking path of the seedling picking mechanism 23, which is not conducive to the setting of the rack opening.

[0080] Therefore, in order to achieve better seedling removal results while ensuring seedling position stability, the inventors configured an opening plate 26 in the seedling throwing system 20. For example... Figure 2 , Figure 6 , Figure 7 , Figure 9As shown, the opening plate 26 is connected to the base 21. One end of the seedling rack 22 is the seedling outlet end, which does not have a baffle. The seedling outlet end has an opening, and the opening plate 26 is located to the side of the seedling outlet end. The position of the opening plate 26 is fixed in the first direction, and the seedling rack 22 can move relative to the opening plate 26 in the first direction. The opening plate 26 has a seedling picking opening 263. The position of the seedling picking device 231 of the seedling picking mechanism 23 corresponds to the seedling picking opening 263. When the seedling picking device 231 moves, it can contact the seedlings on the seedling rack 22 through the seedling picking opening 263 to cut or push 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-laying frame 22. The relative position of the seedling-taking mechanism 23 and the seedling-taking opening 263 in the first direction is fixed, while the relative position of the seedling-laying frame 22 and the opening plate 26 in the first direction is movable. The part of the opening plate 26 without the seedling-taking opening 263 supports the seedlings to prevent them from sliding out of the seedling-laying frame 22 through the opening. The opening can also serve as a support for the seedling-laying frame 22. This arrangement can ensure that the seedling-taking mechanism 23 can continuously take seedlings from the seedlings 81 when the seedling-laying frame 22 moves relative to the seedling-taking mechanism 23.

[0081] The rice seedling tray 22 and the opening plate 26 are slidably connected by a sliding assembly to facilitate smoother movement of the rice seedling tray 22 relative to the opening plate 26. The sliding assembly can be, but is not limited to, pulleys on the rice seedling tray 22 and wheel tracks on the opening plate 26. In other embodiments, the sliding assembly may not be provided between the rice seedling tray 22 and the opening plate 26.

[0082] The rice seedling rack 22 includes a base plate and side plates connected to each other. Side plates are provided at both ends of the base plate in a first direction, and a rice seedling trough is formed between the base plate and the side plates. Openings communicating with the rice seedling trough are provided at both ends of the base plate in a second direction. An opening plate 26 is provided on one side of the base plate in the second direction.

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

[0084] In some embodiments, the seedling-laying frame 22 is rectangular, with the first direction of the base plate being its width direction and the second direction being its length direction. Side plates are provided on the left and right sides of the seedling-laying frame 22 as baffles, while no baffles are provided on the top and bottom sides. This allows seedlings to be placed into the seedling-laying frame 22 through the upper opening and delivered to the seedling-retrieving mechanism 23 through the lower opening. The width of the base plate can match the width of a tray of seedlings, and the height of the side plates is not limited to the height of a tray of seedlings. In other embodiments, the first direction of the base plate is its length direction, and the second direction is its width direction.

[0085] When the seedlings are in the form of blanket seedlings 81, a seedling-picking blade can be used as the seedling picker 231. To achieve both seedling picking and seedling throwing effects, the seedling picking mechanism 23 also includes a turntable 232, and the seedling throwing system 20 includes a second drive device 25. The turntable 232 is rotatably mounted on the base 21. The seedling picker 231 is the seedling-picking blade, which is mounted on the turntable 232. The position of the seedling-picking blade corresponds to the seedling-picking opening 263 of the opening plate 26, and at least a portion of the seedling-picking blade protrudes relative to the outer circumferential surface of the turntable 232. The second drive device 25 drives the turntable 232 to rotate, thereby causing the seedling-picking blade to rotate, so that the seedling-picking blade approaches or moves away from the seedlings on the seedling rack 22. The second drive device 25 can be, but is not limited to, a motor. During operation, the second drive device 25 drives the turntable 232, which in turn drives the seedling-picking blade to rotate at high speed. When the seedling-picking blade rotates to the seedling-picking opening 263, it cuts and picks up the seedling, causing the seedling to rotate. As a result, the seedling is thrown out under the action of centrifugal force, realizing the drone seedling throwing. At the same time, the seedling-laying frame 22 will move laterally in coordination with the seedling-picking blade, causing the blanket seedlings 81 to move left and right, so that the blanket seedlings 81 are cut and thrown row by row and plant by plant.

[0086] It should be noted that the present invention does not limit the structure of the seedling-picking cutter head, as long as it can cut a single seedling from the whole sheet of seedbed 81 using the seedling picker 231. For example, the seedling-picking cutter head can be L-shaped, so that when cutting the seedbed 81, it can cut both sides of a single area on the seedbed 81. In other embodiments, the seedling-picking cutter head can also be straight, cutting only one side of a single area. When the turntable 232 rotates, the seedling-picking cutter head pulls on that area, causing the other side of that single area to separate from the whole, thereby achieving the picking of a single seedling.

[0087] One of the seedling-collecting mechanisms 23 may include multiple seedling-collecting devices 231. Figure 2 One seedling picking mechanism 23 includes two seedling pickers 231. Of course, one seedling picking mechanism 23 can also include three or four seedling pickers 231. The seedling pickers 231 are evenly distributed around the turntable 232. For example, the angle between two seedling pickers 231 and the center of the turntable 232 is 180 degrees, the angle between three seedling pickers 231 and the center of the turntable 232 is 120 degrees apart, and the angle between four seedling pickers 231 and the center of the turntable 232 is 90 degrees apart.

[0088] In other embodiments, the seedling picking mechanism 23 includes a turntable 232 and a seedling picker 231, which can be a seedling picking needle to adapt to the seedling picking and throwing operation of potted seedlings.

[0089] Please continue to refer to Figure 4 , Figure 5 , Figure 13-A2 , Figure 13-B2 , Figures 14 to 16To improve operational efficiency, the seedling-laying frame 22 includes multiple seedling-laying trays 222 arranged side by side. Each seedling-laying tray 222 includes a base plate and side plates, and each tray provides a seedling-laying trough, allowing multiple whole seedlings to be placed side by side on one seedling-laying frame 22. Correspondingly, the opening plate 26 is adaptively lengthened and provided with multiple seedling-taking openings 263, so that each seedling-laying tray 222 has at least one seedling-taking opening 263 on its side. The seedling-throwing system 20 includes multiple seedling-taking mechanisms 23, with at least one seedling-taking mechanism 23 provided on the side of each seedling-laying tray 222. In other words, the seedling-laying frame 22 is provided with multiple seedling-laying trays 222, and each tray 222 corresponds to at least one seedling-taking opening 263 and one seedling-taking mechanism 23, so that multiple seedlings arranged side by side can be picked up and thrown simultaneously through multiple seedling-taking mechanisms 23. Based on this, the three seedling picking mechanisms 23 can share a single second drive device 25, that is, one second drive device 25 can be simultaneously connected to multiple seedling picking mechanisms 23 to achieve synchronous rotation of the three turntables 232, thereby enabling the seedling pickers 231 of the three seedling picking mechanisms 23 to pick up seedlings synchronously; alternatively, each seedling picking mechanism 23 can be equipped with a second drive device 25 to achieve flexible control of each seedling picking mechanism 23.

[0090] In one embodiment, the seedling throwing system 20 includes a seedling feeding mechanism 28, which is disposed on a seedling release frame 22. At least one end of the seedling release frame 22 forms a frame opening, and a seedling taking mechanism 23 is disposed to the side of the frame opening. The seedling feeding mechanism 28 is used to feed the seedlings 81 on the seedling release frame 22 to the frame opening, so as to deliver the seedlings 81 to the seedling taking mechanism 23. The seedling feeding mechanism 28 can be, but is not limited to, a conveyor belt or a conveyor roller. Multiple seedling feeding mechanisms 28 can be provided, for example, multiple seedling feeding mechanisms 28 can be arranged at intervals along the seedling feeding direction, or conveyor belts can be arranged at different positions (such as different heights) on the seedling release frame 22. For example, the seedling delivery 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 mounted on the seedling release frame via the first wheel frame, and the driven wheel is mounted on the seedling release frame via the second wheel frame. The conveyor belt is fitted over the driving wheel and the driven wheel. The driving wheel rotates under the drive of a motor or the like, and the conveyor belt and the driven wheel rotate accordingly. The bottom of the seedling contacts the conveyor belt and is delivered to the seedling picking mechanism 23 under the action of the conveyor belt.

[0091] In some embodiments, to enable the rice seedling frame 22 to be installed on the base 21, the rice throwing system 20 includes a first support 271, which is disposed between the rice seedling frame 22 and the base 21, and is used to support the rice seedling frame 22. One or multiple first supports 271 can be provided between the rice seedling frame 22 and the base 21, with multiple first supports 271 providing more stable support for the rice seedling frame 22. The first support 271 is fixedly connected to or hinged to the base 21, and the first support 271 is slidably connected to the rice seedling frame 22 via a connector 30, so that the first support 271 supports the rice seedling frame 22 and allows the rice seedling frame 22 to slide; alternatively, the first support 271 is slidably connected to the base 21, and the first support 271 is fixedly connected to or hinged to the rice seedling frame 22, as long as the rice seedling frame 22 can be moved relative to the base 21 while being supported by the first support 271.

[0092] In some embodiments, in order to enable the first driving device 24 to drive the rice seedling frame 22 to move, the rice seedling throwing system 20 further includes a second support 272, such as... Figure 2 , Figures 7 to 13-A1 , Figure 13-B1 As shown, the first drive device 24 is mounted on the base 21, one end of the second bracket 272 is connected to the first drive device 24, and the other end of the second bracket 272 is connected to the rice seedling frame 22. The first drive device 24 drives the second bracket 272 to move laterally, thereby the second bracket 272 drives the rice seedling frame 22 to move laterally. 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 support 272 by transmission. This connection can be via a ball screw or a rack and pinion transmission assembly. The rotation of the motor is converted into linear motion driving the second support 272, thereby driving the rice seedling frame 22 to move linearly. The rice seedling 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 drive device.

[0093] In some embodiments, the rice-throwing system 20 includes the opening plate 26 described above, and also includes a third support 273. The third support 273 is connected to the base 21, and the opening plate 26 is connected to the third support 273; the third support 273 supports the opening plate 26. When the rice-throwing frame 22 is tilted relative to the base 21, the opening plate 26 is also tilted relative to the base 21. In this case, the first support 271 is set on the back of the rice-throwing frame 22, and the third support 273 is set on the back of the opening plate 26, which is beneficial for supporting the tilted rice-throwing frame 22 and the tilted opening plate 26. When the rice-throwing frame 22 is horizontally positioned relative to the base 21, the opening plate 26 is also horizontally positioned relative to the base 21. In this case, the first support 271 is set below the rice-throwing frame 22 to support the rice-throwing frame 22, and the third support 273 is set below the opening plate 26 to support the opening plate 26. This allows a certain gap to be maintained between the rice-throwing frame 22, the rice-grabbing device 231, and the base 21. This gap provides working space for the rice-grabbing mechanism 23, which is beneficial for the rice-grabbing mechanism 23 to pick up rice seedlings.

[0094] In some embodiments, the seedling picking mechanism 23 includes a turntable 232 as described above, and the seedling throwing system 20 includes a fourth support 274, which is connected to the base 21. The turntable 232 is rotatably mounted on the fourth support 274.

[0095] The drone's body 10 includes a fuselage 11 and a frame 12. The fuselage 11 is connected to and located above the frame 12. The fuselage 11 is equipped with rotors 111, which drive the entire rice-throwing system 20 to fly and move. When the drone flies over the work area, the rice-throwing system 20 operates to deliver rice seedlings into the work area. The frame 12, to which the rice-throwing system 20 is connected, can be the drone's landing gear, providing support. The drone's fuselage 11 or frame 12 includes a fixed bracket for securing each rice-throwing system 20.

[0096] In some embodiments, the rice-throwing system 20 is located below the machine body 11. The rice-throwing system 20 is detachably installed on the frame 12 or the machine body 11, and the rice-throwing system 20 and the machine body 11 are designed as separate upper and lower parts. Figure 8 As shown, the drone's fuselage 11 serves as a mobile platform and is designed separately from the rice-throwing system 20, making it easy to replace the spraying system under the fuselage 11 with other loads such as a seeding system or a mapping system.

[0097] In some embodiments, the rice-throwing system 20 is mounted on the machine body 11, such as... Figure 9 As shown, the frame 12 connected to the rice-throwing system 20 is the support for the drone fuselage 11.

[0098] After describing the structure of a single rice-throwing system 20 on a drone, the following provides a distribution of multiple rice-throwing systems 20 on a drone, which helps to keep the drone equipped with the rice-throwing system 20 stable when performing rice-throwing operations.

[0099] For ease of description, the x, y, and z directions of the UAV are labeled in the attached diagram. The x-direction is the left-right direction of the UAV, also known as the lateral direction. The y-direction is the forward-backward direction of the UAV, also known as the longitudinal direction. The z-direction is the up-down direction of the UAV, also known as the vertical direction. The pitch axis, roll axis, and yaw axis are the axes of rotation of the UAV. The pitch axis is the axis of rotation in the left-right direction, the roll axis is the axis of rotation in the forward-backward direction, and the yaw axis is the axis of rotation in the horizontal plane.

[0100] One distribution method for multiple rice-throwing systems 20: The rice-throwing frame 22 in the multiple rice-throwing systems 20 is set along the first direction of the drone. The first direction can be the x-direction, y-direction, or z-direction of the drone, or it can be 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 seedling throwing systems 20 is an even number, such as two or four, which is beneficial for the seedling throwing systems 20 to be grouped in pairs, with the seedling release frames 22 of the two seedling throwing systems 20 in each group moving in opposite directions.

[0102] In some embodiments, such as Figures 10 to 13-B2 As shown, the seedling trays 22 in the multiple seedling throwing systems 20 are spaced apart along a first direction, and each seedling tray 22 in the seedling throwing system 20 is configured to move relative to the machine body 10 along a second direction, the first direction being perpendicular to the second direction. In other words, the seedling trays 22 in the multiple seedling throwing systems 20 are arranged side by side, and the arrangement direction of the seedling trays 22 is different from the lateral movement direction of the seedling trays 22. Figure 10 Taking a drone comprising two rice-throwing systems 20, with the first direction being the drone's y-direction and the second direction being the drone's x-direction, as an example, the two rice-throwing systems 20 are positioned one in front of the other in the drone's y-direction. One rice-throwing frame 22 is close to the drone's nose, and the other is close to the drone's tail. The rice-throwing frames 22 in the two systems are configured to move relative to the drone body 10 along the x-direction. During rice-throwing operations, one rice-throwing frame 22 moves laterally to the left, and the other moves laterally to the right, which helps maintain the stability of the drone's center of gravity. It should be noted that... Figure 10 In the diagram, when the horizontal arrow indicates the y-direction, the direction inside or outside the paper is the x-direction; conversely, when the horizontal arrow indicates the x-direction, the direction inside or outside the paper is the y-direction.

[0103] In some embodiments, a plurality of rice-throwing systems 20 are spaced apart along a first direction, and the rice-laying frame 22 in each rice-throwing system 20 is configured to be movable relative to the machine body 10 along the first direction; in other words, the rice-laying frames 22 in the plurality of rice-throwing systems 20 are arranged side by side, and the arrangement direction of the rice-laying frames 22 is consistent with the lateral movement direction of the rice-laying frames 22. Figure 16 As shown, taking a drone including two seed-throwing systems 20, with the first direction being the drone's x-direction, the seed-laying frames 22 of the two seed-throwing systems 20 are arranged one on the left and one on the right in the drone's x-direction. During seed-throwing operations, the seed-laying frames 22 on both sides open and close synchronously. The left seed-laying frame 22 moves to the left and the right seed-laying frame 22 moves to the right, or the left seed-laying frame 22 moves to the right and the right seed-laying frame 22 moves to the left. This cancels out the forces, making it less likely for the drone to tilt when the seed tray moves laterally, which helps maintain the stability of the drone's center of gravity. In this way, the seed-collecting mechanisms 23 in multiple seed-throwing devices can be configured on the same side or opposite sides of the drone. Figure 16 As shown, multiple seedling picking mechanisms 23 are configured 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, such as Figure 14 , 15-A As shown in Figure 15-B, multiple rice-throwing systems 20 are arranged along the first axis of the UAV, which extends in a first direction; that is, the multiple rice-throwing systems 20 are arranged along the first direction. Furthermore, multiple rice-laying frames 22 are located on both sides of the second axis of the UAV. Taking two rice-throwing systems 20 as an example, both systems are arranged along the first axis, and both are located on both sides of the second axis. In this embodiment, the first axis and the second axis are two of the UAV's pitch axis, roll axis, and yaw axis. In other embodiments, the first axis and the second axis may not be pitch axes, roll axes, or yaw axes.

[0105] In this embodiment, the seedling release frames 22 of the two seedling throwing systems 20 can be arranged symmetrically about the second axis; the seedling release frames 22 of the two seedling throwing systems 20 can also be asymmetrical. Each seedling throwing system 20 may include one seedling release frame 22 or multiple seedling release frames 22.

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

[0107] First, such as Figure 10As shown, the first axis is the roll axis, and the second axis is the pitch axis or yaw axis. The seedling release frames 22 in the two seedling throwing systems 20 are arranged along the roll axis and on both sides of the pitch / yaw axis. In other words, one seedling release frame 22 in the two seedling throwing systems 20 is on the front side of the UAV, and the other is on the rear side of the UAV. For example, the two seedling throwing systems 20 are arranged along the roll axis of the UAV. Before the seedling throwing operation begins, the seedling release frames 22 of the two seedling throwing systems 20 are symmetrical with respect to the center of the body 10. When the seedling throwing operation begins, one seedling release frame 22 can move to the left and the other seedling release frame 22 can move to the right. The seedling throwing system 20 located near the front of the UAV throws seedlings diagonally forward of the body 11, and the seedling throwing system 20 located near the rear of the UAV throws seedlings diagonally backward of the body 11.

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

[0109] Third, such as Figure 12 As shown, the first axis is the yaw axis, and the second axis is the pitch axis or roll axis. The seedling release frame 22 in the two seedling throwing systems 20 is set along the yaw axis and located on both sides of the pitch axis / roll axis. In other words, one of the seedling release frames 22 in the two seedling throwing systems 20 is on the top side of the UAV and the other is on the bottom side of the UAV.

[0110] In this embodiment, when there are three or more seedling throwing systems 20, the seedling release frames 22 of the multiple seedling throwing systems 20 are arranged around the first axis. The first axis is indicated by axis O1 in the attached figure. The first axis can be one of the pitch axis, roll axis, and yaw axis of the UAV.

[0111] Taking a drone that includes an odd number of rice-throwing systems 20, with the first axis being the heading axis, as an example, Figure 14 In the drone, there are three rice-throwing systems 20. The rice-throwing frames 22 of the three rice-throwing systems 20 are arranged around the heading axis. From the top view, the rice-throwing frames 22 of the three rice-throwing systems 20 are arranged in a triangular manner. The rice-throwing frames 22 of the three rice-throwing systems 20 move clockwise or counterclockwise at the same time to keep the overall center of gravity of the drone from shifting too much.

[0112] Taking a drone that includes an even number of rice-throwing systems 20 and whose first axis is the heading axis as an example, as shown in Figure 15, the drone includes four rice-throwing systems 20. The rice-laying frames 22 of the four rice-throwing systems 20 are arranged around the heading axis. From the top view, the rice-laying frames 22 of the four rice-throwing systems 20 are arranged in a square manner. The rice-laying frames 22 of the four rice-throwing systems 20 can move clockwise or counterclockwise at the same time, or the rice-laying frames 22 located on opposite sides can move in opposite directions. All of these can keep the overall center of gravity of the drone from shifting too much.

[0113] In some embodiments, the number of seedling throwing systems 20 is three or more, and the seedling release frames 22 of the multiple seedling throwing systems 20 are arranged around a first axis of the drone. A seedling picker 231 is positioned near the bottom edge of the seedling release frame 22, which is configured to move in a direction parallel to its bottom edge. When the number of seedling throwing systems 20 is three or more, the straight lines containing the bottom edges of the multiple seedling release frames 22 combine to form a polygon, such as a triangle or a square, which is symmetrical about a second axis of the drone, perpendicular to the first axis. Exemplarily, the seedling release frames 22 of the multiple seedling throwing systems 20 are arranged around the yaw axis of the drone, and this polygon is symmetrical about the roll or pitch axis of the drone.

[0114] In some embodiments, the number of rice-throwing systems 20 is three or more, and the rice-laying frames 22 of the multiple rice-throwing systems 20 are arranged around a first axis. A sliding guide, such as a groove or a rail, is provided between the rice-laying frame 22 and the body 10. The drone includes two rice-throwing systems 20, and two sliding guides cooperating with the two rice-throwing systems 20 are symmetrical about the first axis. Figure 14 As shown, the drone includes three or more rice-throwing systems 20, and the shape formed by multiple sliding guides that cooperate with the multiple rice-throwing systems 20 is a polygon. The polygon is symmetrical about the second axis of the drone, and the second axis is perpendicular to the first axis.

[0115] The aircraft body 10 includes a fuselage 11 and multiple landing gears located below the fuselage 11. The fuselage 11 includes a platform and rotors 111 mounted on the platform. The multiple landing gears are used to support the fuselage 11 during takeoff and landing, and to place all or most of the rice-laying frame 22 within the range of the drone's landing gears. Figure 10 , Figure 11 For example, the bottom of the rice seedling release frame 22 is the seedling outlet, and the seedling picker 231 is used to pick up seedlings at the bottom of the rice seedling release frame 22. The seedlings are also thrown out from this position, so that the position of the seedling outlet of the rice seedling release frame 22 is as close as possible to the center of the drone, 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 Figure 10 , Figure 11 , Figure 12 , Figure 13-A1 , Figure 13-A2 Multiple rice seedling trays 22 are located on the inside of multiple legs; in other words, the entire rice seedling tray 22 is located on the inside of the outermost end of the legs.

[0116] In other embodiments, the rice seedling frame 22 may extend partially or completely beyond the legs.

[0117] The seedling tray 22 includes a seedling tray surface. During seedling throwing, the seedlings to be separated, comprising a group of seedlings 812 (e.g., a tray 821 for seedlings in a mat or pot), are placed on the seedling tray surface. In some embodiments, the seedling tray surface is inclined. In some embodiments, the seedling tray surface is horizontal.

[0118] Please refer to Figures 8 to 15-B The seedling-laying surface is tilted from top to bottom relative to the drone's yaw axis; in other words, the seedling-laying surface is tilted relative to the vertical direction. This tilt allows gravity to cause the seedlings 81 or other types of seedlings to slide downwards, reducing the power consumption of the first drive device 24 used to continuously deliver seedlings to the seedling picker 231. Alternatively, the first drive device 24, specifically designed to deliver seedlings to the seedling picker 231, can be eliminated, further reducing overall power consumption. The drone can then operate without the first drive device 24 or with a reduced load weight, allowing it to carry heavier and larger seedlings or other systems. Furthermore, as... Figure 10 , Figure 11 , Figure 13-A1 , Figure 13-B1 As shown, the seedling picking mechanism 23 can be positioned relatively low so that the area for picking and throwing seedlings can be as far away from the rotor 111 as possible, thereby reducing the impact of the rotor 111 wind field on the seedlings being thrown.

[0119] The tilting of the seedling-laying surface is achieved by tilting the seedling-laying frame 22. The seedling-laying frame 22 includes a base plate and side plates connected to the base plate. The base plate and side plates form a seedling-laying trough. Seedling trays of blanket seedlings 81 or pot seedling trays can be placed in the seedling-laying trough. The seedling-laying surface is the inner surface of the base plate. The tilting of the seedling-laying surface is achieved by tilting the base plate relative to the vertical direction. By directly tilting the seedling-laying frame 22 relative to the vertical direction, not only can the blanket seedlings 81 slide down smoothly using gravity, reducing the overall power consumption of the machine, but it can also reduce the space occupied by the seedling-laying frame 22 in the horizontal width of the drone, which is beneficial to the overall space utilization of the machine.

[0120] To support the tilted rice-laying frame 22, a first support 271 is provided between the rice-laying frame 22 and the drone body 10. In one embodiment, the rice-throwing system 20 includes a base 21 mounted on the drone body 10. One end of the first support 271 is connected to the base 21, and the other end is slidably connected to the rice-laying frame 22 via a connector 30. The first support can support the rice-laying frame 22 and simultaneously allow the rice-laying frame 22 to move relative to the drone body 10. In other embodiments, the first support 271 is fixed or hinged to the rice-laying frame 22, and slidably connected to the base 21. While supporting the rice-laying frame 22, the first support 271 allows the rice-laying frame 22 to move relative to the drone body 10. In other embodiments, one end of the first support 271 can also be connected to the drone body 11, and the other end of the first support 271 is connected to the rice-laying frame 22. In other embodiments, one end of the first support 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 tilt of the rice seedling release surface can also be achieved by directly setting an inclined surface on the rice seedling release frame 22.

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

[0123] In some embodiments, the tilting directions of the multiple seedling release frames 22 are opposite. This can be because the multiple seedling release surfaces are all located on the side of the seedling release frame 22 away from the heading axis, i.e., the seedling release surfaces are all facing inward, or the multiple seedling release surfaces are all located on the side of the seedling release frame 22 close to the heading axis, i.e., the seedling release surfaces are all facing outward.

[0124] The two rice-feeding frames are tilted at opposite angles, which helps to make the drone structure more compact. Figure 10 , Figure 13-A1 , Figure 13-A2 In the middle, the two seedling throwing systems 20 are arranged one in front of the other relative to the central axis of the drone body 11. The seedling placing surface of the seedling placing frame 22 is arranged at an angle relative to the vertical direction. The angles of the seedling placing frames 22 in the two seedling throwing systems 20 are opposite, which makes the seedling throwing system 20 under the drone body 11 compact and occupies little space.

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

[0126] In some embodiments, the plant protection equipment includes two seedling throwing systems 20, two seedling release frames 22 tilted outwards from top to bottom, with the two release surfaces facing different directions, and both release surfaces facing outwards from the drone. Correspondingly, the seedling pickers 231 of the two seedling throwing systems 20 are respectively located on the outside of the two seedling release frames 22. In other words, the seedling pickers 231 are located on the side of the seedling release frame 22 away from the center of the drone fuselage 11. With this arrangement, the drive device for driving the lateral movement of the seedling release frame 22 in the two seedling throwing systems 20 can share one, thereby reducing the number of drive components and lowering costs and complexity.

[0127] Figure 10 In this context, y / x direction refers to either the y-axis or the x-axis. Taking the x-axis as the direction aligned with the pitch axis and the y-axis as the direction aligned with the roll axis as an example, the configuration of the rice seedling throwing system 20 will be explained:

[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 UAV. In other words, the seedling release frames 22 of the two seedling throwing systems 20 are set one on the left and one on the right. The two seedling release frames 22 can be set at an angle or horizontally. When the two seedling release frames 22 are set at an angle, the angles can be the same or opposite. For example, when the two seedling release frames 22 are set at an angle, the seedlings on one seedling release frame 22 are generally facing the left side of the fuselage 11, and the seedlings on the other seedling release frame 22 are generally 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 release frames 22 of the two seedling throwing systems 20 are set one in front of the other. The two seedling release frames 22 can be set at an angle or horizontally, and when set at an angle, the angles can be the same or opposite. For example, with the two seedling release frames 22 set at an angle, the seedlings on one seedling release frame 22 are roughly facing the direction of the drone's head, and the seedlings on the other seedling release frame 22 are roughly facing the direction of the drone's tail.

[0130] In some embodiments, such as Figure 11 As shown, Figure 11 The meaning of the y / x directions can be found in the previous section on... Figure 10 The plant protection equipment includes two seedling throwing systems 20 and two seedling release frames 22 that are tilted from top to bottom. The two seedling release surfaces face the same direction. Either the seedling release surfaces of the two seedling release frames 22 face the nose of the drone, or the seedling release surfaces of the two seedling release frames 22 face the tail of the drone.

[0131] With the two seedling trays 22 tilted in the same direction, the support for mounting the seedling tray 22 and the drive device for moving the seedling tray 22 in one seedling throwing system 20 can be placed above the other seedling throwing system 20 to make full use of the space above at least one seedling picker 231, making the entire space more compact. Figure 11 As shown, the rice-throwing system 20 includes a first support 271 and a first drive device 24. The rice-throwing frame 22 is connected to the body 10 through the first support 271. The first drive device 24 is installed on the body 10 and is used to drive the rice-throwing frame 22 to move relative to the body 10. When the rice-throwing surfaces of the two rice-throwing frames 22 are facing the head of the drone, the first support 271 and the first drive device 24 on the side closer to the head are located above the rice-grabbing device 231 of the adjacent rice-throwing system 20. When the rice-throwing surfaces of the two rice-throwing frames 22 are facing the tail of the drone, the first support 271 and the first drive device 24 on the side closer to the tail are located above the rice-grabbing device 231 of the adjacent rice-throwing system 20.

[0132] To optimize the layout of adjacent seedling throwing systems 20 when multiple systems are arranged, in some embodiments, multiple seedling racks 22 are positioned along the first axis of the UAV, which can be one of the pitch, roll, or yaw axes. The seedling picking mechanism 23 includes a seedling picker 231, used to remove seedlings from the seedling racks 22. Multiple seedling pickers 231 are arranged on the same straight line, parallel to the first axis. This arrangement allows for more compact coordination between the seedling throwing systems 20. For example, if the first axis is the roll axis of the UAV, and the UAV includes two seedling throwing systems 20, with the two systems positioned one in front of the other, and the line connecting the seedling pickers 231 of the two systems parallel to the roll axis of the UAV, the seedling pickers 231 of the two systems are concentrated in one area, resulting in a more compact layout. Furthermore, after picking up the seedlings, the two seedling pickers 231 can throw the seedlings roughly in two directions along a straight line.

[0133] The following explains how to set the rice seedlings to a horizontal or basic level.

[0134] The seedling release frame 22 includes a release surface for supporting the seedling blankets 81. The release surface is not marked in the accompanying drawings; the seedling blankets 81 are placed on the release surface. The seedling release frame 22 is horizontally or substantially horizontally positioned; in other words, the angle between the release surface on the seedling release frame 22 and the UAV's heading axis is between 0 and 30 degrees. Due to the horizontal arrangement of the release surface, the seedling blankets 81 are placed substantially horizontally on the seedling release frame 22. This results in greater stability of the seedling blankets 81 during UAV flight. Even when the UAV encounters unexpected turbulent airflow and experiences significant shaking, the seedling release frame 22 can more reliably support the seedling blankets 81, and unthrown seedling blankets 81 are less likely to accidentally fall from the seedling release frame 22. When the seedling release frame 22 is horizontally positioned, the seedling picking mechanism 23 is located on the outer side of the seedling release frame 22 in the horizontal direction. To continuously deliver the seedling blankets 81 to the seedling picker 231, the seedling throwing system 20 includes a seedling delivery mechanism 28, which delivers the seedling blankets 81 to the seedling picker 231.

[0135] In some embodiments, the rice seedling release frame 22 is set horizontally, and the seedling release surface is horizontal, such as... Figure 12 Multiple seedling-laying devices are arranged at intervals along the drone's yaw axis, and multiple seedling-laying frames 22 are stacked along the drone's yaw axis; in other words, multiple seedling-laying frames 22 are arranged in a stacked manner. This arrangement allows for the full stacking of seedling-laying frames 22 in the middle of the drone's tripod. When the length and width of the seedling blanket 81 are large, this method of placing the seedling blanket 81 can more effectively utilize the space within the tripod with a certain height. Furthermore, this placement method allows the seedling-laying frames 22 to fully or almost fully support the entire seedling from bottom to top, improving the stability of the entire seedling. The entire seedling is not easy to fall off when the drone shakes, resulting in high safety. Even in complex wind conditions, seedlings can be stably released.

[0136] Please refer to Figure 6 , Figure 7 , Figure 12 The seedling picking mechanism 23 is located on one side of the seedling rack 22 in the horizontal direction to pick up the seedlings placed horizontally. The seedling picking mechanism 23 is located on the outside of the seedling rack 22.

[0137] In some embodiments, the seedling-collecting mechanisms 23 of multiple seedling-throwing systems 20 are located on the same side. This avoids the systems performing seedling collection and throwing operations occupying excessive space laterally on the drone, allowing multiple seedling-collecting mechanisms 23 to be stacked vertically to fully utilize vertical space. When the seedling-collecting mechanism 23 is located inside the drone's landing gear, the space inside the landing gear can be fully utilized. In some embodiments, the seedling-collecting mechanisms 23 of adjacent seedling-throwing systems 20 are located on opposite sides. Figure 12 The system includes two seedling throwing systems 20, with seedling taking mechanisms 23 located on opposite sides of each other.

[0138] In some embodiments, a rice seedling throwing system 20 includes a seedling release frame 22 and at least one seedling receiving mechanism 23. The seedling release frame 22 includes a plurality of seedling release trays 222, each seedling release tray 222 including a horizontally arranged seedling release surface. Unmanned aerial vehicles (UAVs) may include multiple such rice seedling throwing systems 20.

[0139] like Figure 7 The seedling release frame 22 includes a main connecting frame 221 and multiple seedling release trays 222. The main connecting frame 221 is installed on the body 10. The seedling release trays 222 provide seedling placement positions and are connected to the main connecting frame 221. The main connecting frame 221 supports the seedling release trays 222. The multiple seedling release trays 222 are spaced apart along the yaw axis of the UAV. In this way, more seedlings can be stacked vertically, resulting in a larger seedling carrying capacity and increasing the number of seedlings that can be released by the UAV in a single takeoff. One of the seedling release trays 222 in the seedling release frame 22 is a seedling release position tray. The seedling picking mechanism 23 is located on one side of the seedling release position tray in the horizontal direction. After the seedlings on the seedling release position tray are released, the seedlings on the seedling release trays 222 of other layers can be sent to the layer where the seedling release position tray is located.

[0140] like Figure 7 The lowest-level seedling tray 222 is the base tray, which is the aforementioned seedling throwing position tray. The seedling tray 222 above the base tray is the upper tray. The upper tray includes a tray frame and a bottom door 2221. A frame opening is formed at the bottom of 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 trough 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 trough can fall into the seedling tray 222 of the next layer. After all the seedlings on the lowest-level seedling tray 222 have been removed and thrown out, the bottom door 2221 of the second-to-last seedling tray 222 opens, allowing the seedlings 81 on top to fall onto the lowest-level seedling tray 222. Similarly, the seedlings 81 on the seedling trays 222 of other layers can fall downwards through the opening of the bottom door 2221.

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

[0142] In some embodiments, such as Figure 13-A1 , Figure 13-A2As shown, the seedling-laying frames 22 of the multiple seedling-throwing systems 20 are arranged along the roll or pitch axis of the UAV. Each seedling-laying frame 22 includes a seedling-laying surface facing the center of the UAV fuselage 11. Seedlings are placed inside the seedling-laying frame 22. Correspondingly, a seedling-retrieving mechanism 23 is located on the side of the seedling-laying frame 22 closest to the center of the UAV. This prevents the wind field generated by the rotor 111 from affecting the thrown seedlings after the seedling-retrieving device 231 retrieves the seedlings. In other words, the seedling-laying surface is located on the side of the seedling-laying frame 22 closest to the yaw axis, and the seedling-retrieving mechanism 23 is located on the side of the seedling-laying frame 22 closest to the yaw axis of the UAV.

[0143] Figure 13-A1 , Figure 13-B1 , Figure 13-A2 , Figure 13-B1 The drone includes two seedling throwing systems 20. A seedling-laying frame 22 tilts inwards from top to bottom, and a seedling-collecting mechanism 23 is located on the side of the seedling-laying frame 22 near the center of the drone. The two seedling throwing systems 20 are a first seedling throwing system 201 and a second seedling throwing system 202, respectively. The two seedling throwing systems 20 are arranged along a first direction of the drone, and the seedling-laying frame 22 of the seedling throwing system 20 is configured to move along a second direction of the drone. The seedling collector 231 of the first seedling throwing system 201 is a first seedling collector 23101, and the second seedling throwing system 202 includes a second seedling collector 23102.

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

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

[0146] Method 1: The first seedling picker 23101 and the second seedling picker 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 pickers 231 on the left and right sides can be on the same vertical plane. During operation, the seedling pickers 231 on the left and right sides can simultaneously complete the operation of the same row of seedlings.

[0148] Method 2: The first seedling picker 23101 and the second seedling picker 23102 are staggered along the second direction.

[0149] like Figure 13-B1 As shown, Figure 13-B2 for Figure 13-B1The top view shows that the seedling pickers 231 on the left and right sides are staggered, so that the seedling pickers 231 are roughly in a straight line, which can effectively reduce the space.

[0150] In some embodiments, the drone includes three rice-throwing systems 20 arranged in a triangular pattern. For example... Figure 14 The drone includes three rice-throwing systems 20. The rice-laying frames 22 of the three systems are arranged in a triangular pattern in the top view. Each system is fixed to a tripod on the drone body 10 (the complete tripod is not shown in the figure). This arrangement is compact, allowing multiple rice-throwing systems 20 to be accommodated within the limited space of the tripod. The lateral movement mechanism of each system 20 drives the rice-laying frames 22 to move, causing them to rotate clockwise or counterclockwise to prevent excessive shift in the drone's overall center of gravity.

[0151] In some embodiments, the drone includes four seed-throwing systems 20, which are arranged in a rectangular pattern. As shown in Figure 15, the seed-laying frames 22 of the four seed-throwing systems 20 are arranged in a square shape from a top view. In other embodiments, they can also be arranged in a rectangular or rhomboid pattern. Two opposing seed-throwing systems 20 can work together to complete the seed-throwing operation in one row, improving operational efficiency. The seed-throwing systems 20 in the figure are fixed to the landing gear of the drone body 10 (the complete landing gear is not shown in the figure). When the drive devices of the four seed-throwing systems 20 move the seed-laying frames 22, the seed-laying frames 22 in two opposing seed-throwing systems 20 move in opposite directions to prevent excessive shift in the overall center of gravity of the drone.

[0152] This invention, based on a drone equipped with multiple seedling throwing systems 20, provides a distribution method for modules and components such as the seedling release frame 22 and the seedling picking mechanism 23 within these systems. This not only enables simultaneous seedling throwing by multiple systems 20 and achieves force cancellation, but also allows for adaptation to different application scenarios and drone operating routes through different component distribution methods, resulting in wide applicability, strong practicality, and facilitating widespread application. The drone of this invention is suitable for throwing seedlings 81 onto mats, conforming to the seedling habits of many farmers. Furthermore, it maintains drone flight stability during seedling throwing, demonstrating strong practicality and promoting widespread application.

[0153] In the description herein, it should be understood that the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0154] In the description of this specification, references to terms such as "some embodiments," "examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0155] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0156] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A drone, characterized in that, include: Body (10); Multiple seedling throwing systems (20) are installed on the machine body (10); each seedling throwing system (20) includes a seedling release frame (22) and a seedling retrieval mechanism (23), the seedling release frame (22) provides a location for placing the seedlings, and the seedling retrieval mechanism (23) is used to remove the seedlings from the seedling release frame (22); The rice-laying frames (22) of the plurality of rice-laying systems (20) are arranged along a first direction, and the rice-laying frames (22) are configured to be movable relative to the machine body (10) along a second direction; Alternatively, the seedling release frames (22) of the plurality of seedling throwing systems (20) are arranged along a first direction, and the seedling release frames (22) are configured to be movable relative to the machine body (10) along the first direction.

2. The UAV according to claim 1, characterized in that, The rice seedling rack (22) is configured to move relative to the machine body (10). When the rice seedling rack (22) moves relative to the machine body (10), the seedling picking mechanism (23) can pick up the seedlings from different areas on the rice seedling rack (22). Alternatively, the seedling picking mechanism (23) may move relative to the machine body (10). When the seedling picking mechanism (23) moves relative to the machine body (10), the seedling picking mechanism (23) may pick up the seedlings in different areas of the seedling rack (22).

3. The UAV according to claim 1, characterized in that, In a plurality of the seedling throwing systems (20), the seedling release frame (22) of a portion of the seedling throwing systems (20) is located on one side of the first axis, and the seedling release frame (22) of another portion of the seedling throwing systems (20) is located on the other side of the first axis; Alternatively, the rice-throwing frames (22) of multiple rice-throwing systems (20) are arranged around the first axis.

4. The UAV according to claim 3, characterized in that, The first axis is one of the pitch axis, roll axis, and yaw axis of the UAV.

5. The UAV according to claim 1, characterized in that, The machine body (10) includes a fuselage (11) and a plurality of legs disposed below the fuselage (11); the fuselage (11) includes a rotor (111); the rice seedling release frame (22) is disposed inside the plurality of legs.

6. The UAV according to any one of claims 1-5, characterized in that, The rice seedling release frame (22) includes a rice seedling release surface, which is inclined from top to bottom relative to the heading axis of the UAV.

7. The UAV according to claim 6, characterized in that, Multiple seedling release surfaces are located on the side of the seedling release frame (22) away from the heading axis; or multiple seedling release surfaces are located on the side of the seedling release frame (22) close to the heading axis; the seedling release frame (22) is tilted in opposite directions.

8. The UAV according to claim 7, characterized in that, The drone includes a first drive device (24), which is connected to the rice seedling rack (22) in a transmission manner. The first drive device (24) is used to drive the rice seedling rack (22) to move relative to the body (10). When all of the seedling release surfaces are located on the side of the seedling release frame (22) away from the heading axis, the first drive device (24) is located between the multiple seedling release frames (22) and is connected to the multiple seedling release frames (22) in a transmission manner.

9. The UAV according to claim 6, characterized in that, The drone includes two seedling throwing systems (20) and two seedling release frames (22) arranged along the roll axis or pitch axis of the drone; When the two rice seedling release frames (22) are set along the roll axis of the UAV, the release surface of one rice seedling release frame (22) faces the head of the UAV and the release surface of the other rice seedling release frame (22) faces the tail of the UAV; or, the release surfaces of both rice seedling release frames (22) face the head of the UAV; or, the release surfaces of both rice seedling release frames (22) face the tail of the UAV. When the two seedling release frames (22) are set along the pitch axis of the UAV, the seedling release surface of one seedling release frame (22) faces the left side of the UAV and the seedling release surface of the other seedling release frame (22) faces the right side of the UAV; or, the seedling release surfaces of both seedling release frames (22) face the left side of the UAV; or, the seedling release surfaces of both seedling release frames (22) face the right side of the UAV.

10. The UAV according to claim 8, characterized in that, The rice-throwing system (20) includes a first support (271) and a first drive device (24). The rice-throwing frame (22) is connected to the machine body (10) through the first support (271). The first drive device (24) is installed on the machine body (10) and is used to drive the rice-throwing frame (22) to move relative to the machine body (10). When the rice seedling release surfaces of both rice seedling release frames (22) are facing the head of the drone, the first support (271) and the first drive device (24) on the side closer to the head are located above the rice seedling picking mechanism (23) of the adjacent rice seedling throwing system (20); When the rice seedling release surfaces of both rice seedling release frames (22) are facing the tail of the UAV, the first support (271) and the first drive device (24) near the tail are located above the rice seedling picking mechanism (23) of the adjacent rice seedling throwing system (20).

11. The UAV according to claim 6, characterized in that, The seedling release frame (22) of the seedling throwing system (20) is arranged along a first direction; the seedling taking mechanism (23) includes a seedling taker (231) for taking out the seedlings on the seedling release frame (22); a plurality of seedling takers (231) are arranged on the same straight line.

12. The UAV according to claim 1, 2, or 5, characterized in that, The rice seedling release frame (22) is set horizontally, and multiple rice seedling release frames (22) are arranged at intervals along the heading axis of the UAV, and multiple rice seedling release frames (22) are stacked along the heading axis of the UAV.

13. The UAV according to claim 12, characterized in that, The seedling taking mechanism (23) is located on one side of the horizontal direction of the seedling release frame (22); the seedling taking mechanisms (23) in multiple seedling throwing systems (20) are located on the same side, or the seedling taking mechanisms (23) in adjacent seedling throwing systems (20) are located on opposite sides.

14. The UAV according to claim 1, 2 or 5, characterized in that, The seedling tray (22) includes a main connecting frame (221) and a plurality of seedling trays (222) connected to the main connecting frame (221). The seedling trays (222) provide a position for placing the seedlings and are horizontally arranged. Multiple seedling trays (222) are spaced apart along the heading axis of the UAV; the seedling picking mechanism (23) is located on one side of one of the seedling trays (222) in the horizontal direction.

15. The UAV according to any one of claims 14, characterized in that, The seedling tray (222) located at the bottom layer is the base plate, and the seedling tray (222) located above the base plate is the upper plate; the upper plate includes a tray frame and a bottom door (2221), a frame opening is formed at the bottom of 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, the tray frame and the bottom door (2221) form a seedling trough; when the bottom door (2221) opens the frame opening, the seedlings in the seedling trough can fall into the seedling tray (222) of the next layer.

16. The UAV according to claim 1, 2 or 5, characterized in that, The rice-throwing frames (22) of the multiple rice-throwing systems (20) are set along the roll axis or pitch axis of the UAV; The rice seedling release frame (22) includes a seedling release surface, which is located on the side of the rice seedling release frame (22) close to the heading axis of the UAV; the seedling picking mechanism (23) is located on the side of the rice seedling release frame (22) close to the heading axis.

17. The UAV according to claim 16, characterized in that, The drone includes two seedling throwing systems (20), namely 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 release frame (22) of the seedling throwing system (20) is configured to be movable along a second direction of the drone; The seedling picker (231) of the first seedling throwing system (201) is a first seedling picker (23101), and the second seedling throwing system (202) includes a second seedling picker (23102); the first seedling picker (23101) and the second seedling picker (23102) are arranged side by side along the first direction, or the first seedling picker (23101) and the second seedling picker (23102) are arranged alternately along the second direction.

18. The UAV according to claim 3 or 4, characterized in that, The drone includes three seedling throwing systems (20), and the seedling throwing frames (22) of the three seedling throwing systems (20) are arranged in a triangular pattern; Alternatively, the drone may include four seed-throwing systems (20), with the seed-throwing frames (22) of the four seed-throwing systems (20) arranged in a rectangular pattern.

19. The UAV according to any one of claims 1-5, characterized in that, The rice transplanting system (20) also includes a base (21) and a first drive device (24), wherein the base (21) is connected to the body (10); The rice seedling rack (22) is movably connected to the base (21), and the rice seedling rack (22) can move relative to the base (21); the first driving device (24) is installed on the base (21), the first driving device (24) is connected to the rice seedling rack (22), and the first driving device (24) is used to drive the rice seedling rack (22) to move; the rice seedling picking mechanism (23) includes a rice seedling picker (231), and the rice seedling picker (231) is installed on the base (21).

20. The UAV according to claim 19, characterized in that, The rice transplanting system (20) also includes an opening plate (26), which is connected to the base (21); One end of the seedling release frame (22) is the seedling outlet end, and the seedling outlet end is provided with a frame opening. The opening plate (26) is located on the side of the seedling outlet end. The seedling release frame (22) can move relative to the opening plate (26). The opening plate (26) is provided with a seedling picking port (263), and the seedling picker (231) is inserted into the seedling picking port (263) when picking seedlings.

21. The UAV according to claim 20, characterized in that, The rice seedling rack (22) includes a base plate and side plates connected to each other. The side plates are provided at both ends of the base plate in a first direction, and a rice seedling trough is formed between the base plate and the side plates. Openings communicating with the rice seedling trough are provided at both ends of the base plate in a second direction. The opening plate (26) is provided on one side of the base plate in the second direction. The rice seedling release frame (22) and the opening plate (26) are in sliding fit.

22. The UAV according to claim 19, characterized in that, The seedling picking mechanism (23) includes a turntable (232) and a seedling picker (231), and the seedling throwing system (20) includes a second drive device (25); The turntable (232) is rotatably mounted on the base (21). The seedling picker (231) is a seedling picker head. The seedling picker head is mounted on the turntable (232). At least a portion of the seedling picker 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 picker head to rotate, so that the seedling picker head approaches or moves away from the seedlings on the seedling rack (22).

23. The UAV according to claim 20, characterized in that, The seedling rack (22) includes multiple seedling trays (222); the opening plate (26) is provided with multiple seedling picking ports (263), and at least one seedling picking port (263) is arranged laterally on the seedling tray (222); the seedling throwing system (20) includes multiple seedling picking mechanisms (23), and at least one seedling picking mechanism (23) is arranged laterally on each seedling tray (222); The seedling throwing system (20) includes a second drive device (25); one second drive device (25) is connected to multiple seedling picking mechanisms (23) in a transmission connection, or multiple second drive devices (25) are respectively connected to multiple seedling picking mechanisms (23); the second drive device (25) is used to drive the seedling picking mechanism (23) to approach or move away from the seedling picking port (263).

24. The UAV according to claim 19, characterized in that, The seedling throwing system (20) includes a seedling delivery mechanism (28), which is located on the seedling release frame (22); one end of the seedling release frame (22) is the seedling outlet end, and the seedling outlet end is provided with a frame opening; the seedling taking mechanism (23) is located on the side of the frame opening; the seedling delivery mechanism (28) is used to deliver the seedlings to the frame opening.

25. The UAV according to claim 19, characterized in that, The rice seedling throwing system (20) includes a first support (271); the first support (271) is installed on the base (21), and the first support (271) is slidably connected to the rice seedling release frame (22); the first support (271) supports the rice seedling release frame (22).

26. The UAV according to claim 19, characterized in that, The rice seedling throwing system (20) includes a second support (272), and the first driving device (24) is installed on the base (21). The first driving device (24) is connected to the rice seedling release frame (22) through the second support (272).

27. The UAV according to any one of claims 20-21, characterized in that, The rice transplanting system (20) also includes a third support (273), which is connected to the base (21), and the opening plate (26) is connected to the third support (273); the third support (273) supports the opening plate (26).

28. The UAV according to claim 22, characterized in that, The seedling throwing system (20) includes a fourth support (274), which is connected to the base (21), and the turntable (232) is rotatably mounted on the fourth support (274).

29. The UAV according to claim 19, characterized in that, The machine body (10) includes a body (11) and a frame (12), the body (11) being connected to the frame (12) and located above the frame (12); the rice transplanting system (20) is installed on the frame (12) or the body (11).

30. A method for controlling rice seedling transplanting by unmanned aerial vehicles, characterized in that, The unmanned aerial vehicle (UAV) rice-throwing control method is applied to the UAV as described in any one of claims 1-29; the UAV rice-throwing control method includes: Control the movement of movable structures in multiple seedling throwing systems (20) along a preset path, wherein the movable structures are seedling throwing frames (22) or seedling picking mechanisms (23).

31. The unmanned aerial vehicle (UAV) rice transplanting control method according to claim 30, characterized in that, The drone includes two seed-throwing systems (20), namely a first seed-throwing system (201) and a second seed-throwing system (202); The control of the movable structures in the multiple seedling throwing systems (20) to move along a preset path includes: controlling the first movable structure to move along a first preset path, controlling the second movable structure to move along a second preset path, wherein the first preset path includes a first direction, the second preset path includes a second direction, and the first direction is opposite to the second direction.

32. The unmanned aerial vehicle (UAV) rice transplanting control method according to claim 30, characterized in that, The drone includes N rice-throwing systems (20), where N is an integer greater than or equal to three; the movable structures in the N rice-throwing systems (20) are arranged around a first axis; The control of the movable structures in the multiple seedling throwing systems (20) to move along a preset path includes: controlling the multiple movable structures to move 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 ring path.

33. The unmanned aerial vehicle (UAV) rice transplanting control method according to claim 30, characterized in that, The drone includes N rice-throwing systems (20), where N is an even number greater than or equal to four; the movable structures in the N rice-throwing systems (20) are arranged around a first axis; The control of the movable structures in the multiple seedling throwing systems (20) to move along a preset path includes: the preset paths of the two movable structures that are symmetrical about the first axis are parallel and in opposite directions.

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