Seedling throwing system and unmanned aerial vehicle

Abstract

The invention discloses a seedling throwing system and an unmanned aerial vehicle, and belongs to the field of agricultural equipment. The load module is used for being connected with an unmanned aerial vehicle; the plurality of seedling throwing mechanisms are mounted on the load module; each seedling throwing mechanism comprises a seedling feeding module and a seedling throwing module; the seedling conveying module comprises a seedling conveying frame, the seedling conveying frame is provided with a supporting face used for supporting seedlings and a seedling conveying opening, and the seedling conveying module is configured to be capable of conveying the seedlings to the seedling conveying opening; the seedling throwing module is used for taking seedlings through the seedling feeding port and throwing the taken seedlings out; the plurality of seedling conveying frames are arranged along the Y direction; the seedling feeding frames incline in the Z direction, the supporting faces incline, and the supporting faces of the multiple seedling feeding frames face the same side of the seedling throwing system. The seedling slinging system and the unmanned aerial vehicle are suitable for being carried on the unmanned aerial vehicle for flying seedling slinging; the seedling throwing system is provided with a plurality of sets of seedling throwing mechanisms, and the seedling conveying frames in the seedling throwing mechanisms are arranged obliquely in the same direction in the vertical direction, so that the seedling throwing efficiency is improved, the structure is more compact, and the space utilization rate is high.

Description

Technical Field

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

[0002] In the field of agricultural planting, some crops need to be planted after raising seedlings. For mechanical planting of seedlings, the relevant technology relies on agricultural machinery traveling on the ground to transplant or throw seedlings. However, this method of planting seedlings requires reserving space for agricultural machinery on the ground. Due to site restrictions, the utilization rate of planting space is low. There are also some drones equipped with seedling throwing systems in the relevant technology, but there is a problem of poor operation effect. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a seedling throwing system and a drone, which adopt a method of arranging multiple seedling delivery frames in the same direction and tilting, thereby improving the seedling throwing efficiency and high space utilization.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A seedling throwing system, comprising:

[0006] A payload module, used to connect with the drone;

[0007] A plurality of seedling throwing mechanisms are installed on the load module; each of the seedling throwing mechanisms comprises a seedling sending module and a seedling throwing module; the seedling sending module comprises a seedling sending frame, the seedling sending frame has a supporting surface for supporting seedlings, the seedling sending frame has a seedling sending opening, the seedling sending module is configured to send the seedlings to the seedling sending opening; the seedling throwing module is used to take the seedlings through the seedling sending opening and throw the taken seedlings out;

[0008] Wherein, the plurality of seedling sending racks are arranged along the Y direction; the seedling sending racks are inclined along the Z direction so that the supporting surface is inclined, and the supporting surfaces of the plurality of seedling sending racks face the same side of the seedling throwing system.

[0009] Optionally, the seedling delivery module includes a conveying assembly, which is installed on the seedling delivery frame and is used to convey the seedlings on the seedling delivery frame to the seedling delivery port.

[0010] Optionally, the seedling throwing module includes a first driver and a seedling taker, the first driver is connected to the seedling taker to drive the seedling taker to move along a motion trajectory, when the seedling taker moves along a first stroke of the motion trajectory, the seedlings sent by the seedling sending rack are separated, and when the seedling taker moves along a second stroke of the motion trajectory, the seedling throwing module throws the seedlings on the seedling taker.

[0011] Optionally, the seedling throwing module includes a seedling throwing seat, and the seedling throwing module includes a plurality of seedling takers;

[0012] The first driver is connected to the seedling throwing seat via a first rotating shaft, and the first driver is used to drive the seedling throwing seat to rotate around the axis of the first rotating shaft. A plurality of seedling takers are arranged in the seedling throwing module at intervals around the first rotating shaft.

[0013] Optionally, a first slide rail extending along the X direction is provided between the seedling delivery frame and the load module, and the seedling delivery frame is slidably connected to the load module via the first slide rail;

[0014] The seedling throwing system has an operating state and a seedling replenishing state. When the seedling throwing system is in the operating state, a plurality of seedling sending racks are located in a central area of ​​the seedling throwing system. When the seedling throwing system is in the seedling replenishing state, at least some of the seedling sending racks move along the X direction to outside the central area.

[0015] Optionally, the seedling delivery frame includes a seedling delivery tray; the seedling delivery tray includes a seedling delivery bottom plate and side baffles connected to both sides of the seedling delivery bottom plate in the x direction, and a seedling groove is formed between the seedling delivery bottom plate and the side baffles on both sides;

[0016] The front side of the seedling delivery tray body forms a front opening, the seedling delivery opening is formed at the bottom of the seedling delivery tray body, and the top of the seedling delivery tray body forms a top opening.

[0017] Optionally, it further comprises a first locking member, wherein the first locking member is arranged between the seedling delivery frame and the first slide rail, or between the load module and the first slide rail;

[0018] The first locking member has an unlocked state and a locked state; when the first locking member is in the unlocked state, the seedling sending rack can move along the X direction to enter or move out of the central area; when the first locking member is in the locked state, the seedling sending rack is restricted from moving toward the outside of the central area.

[0019] Optionally, the seedling delivery module includes two seedling delivery racks arranged along the X direction, and the two seedling delivery racks are slidably mounted on the load module through two first slide rails respectively;

[0020] The X direction includes an opposite X1 direction and an X2 direction, and the two seedling sending racks can move toward the outside of the central area of ​​the seedling throwing system along the X1 direction and the X2 direction respectively.

[0021] Optionally, the seedling sending module includes at least three seedling sending trays, and at least the three seedling sending trays are arranged along the X direction.

[0022] Optionally, the seedling throwing system includes a transverse driving device, and the transverse driving device is installed on the load module;

[0023] The seedling delivery module is slidably mounted on the load module via a transverse slide rail, and the transverse drive device is used to drive the seedling delivery module to move relative to the seedling throwing module along the X direction; or, the seedling throwing module is slidably mounted on the load module via a transverse slide rail, and the transverse drive device is used to drive the seedling throwing module to move relative to the seedling delivery module along the X direction;

[0024] When the seedling throwing system is in operation, the seedling delivery module and the seedling throwing module move relatively along the X direction, so that the seedling throwing module can pick up the seedlings one by one from multiple areas of the seedlings delivered by the seedling delivery module.

[0025] Optionally, the seedling delivery module further includes a transverse driving device and an adapter frame;

[0026] The seedling delivery frame is slidably mounted on the adapter frame via the first slide rail; the adapter frame is slidably mounted on the load module via the transverse slide rail, and the driving end of the transverse drive device is connected to the adapter frame;

[0027] When the seedling throwing system is in the operating state, the transverse driving device is used to drive the adapter frame and the seedling sending frame to move laterally relative to the seedling throwing module along the X direction; when the seedling throwing system is in the seedling replenishing state, the seedling sending frame slides relative to the adapter frame under the action of pulling force or pushing force to move toward the center area.

[0028] Optionally, the seedling throwing module is slidably installed on the load module via a second slide rail, and the seedling throwing module can slide relative to the load module along the X direction; a second locking member is arranged between the seedling throwing module and the load module, and when the second locking member is in an unlocked state, the seedling throwing module can slide relative to the load module along the X direction, and when the second locking member is in a locked state, the sliding of the seedling throwing module is restricted.

[0029] A drone, comprising:

[0030] A machine body, comprising a machine body and a frame connected to the machine body;

[0031] In the aforementioned seedling throwing system, the load module is installed on the frame.

[0032] The beneficial effects of the present invention are as follows: the seedling throwing system is suitable for being carried on an unmanned aerial vehicle for flying seedling throwing; the seedling throwing system is equipped with multiple sets of seedling throwing mechanisms, and the seedling delivery frames in the multiple seedling throwing mechanisms are all configured to be inclined in the same direction in the vertical direction, which improves the seedling throwing efficiency while making the structure more compact and the space utilization rate high. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0034] Figure 1 It is a schematic diagram of a seedling tray for pot seedlings in the related art;

[0035] Figure 2 It is a schematic three-dimensional diagram of the blanket seedling;

[0036] Figure 3 This is a side view of the blanket seedling;

[0037] Figure 4 This is a schematic diagram of the hole blanket seedling;

[0038] Figure 5 A single rice seedling taken from a blanket of seedlings by a rice seedling taker according to an embodiment of the present invention;

[0039] Figure 6 The drone described in the embodiment of the present invention;

[0040] Figure 7 It is a schematic diagram of the layout of the seedling delivery mechanism in the seedling throwing system according to an embodiment of the present invention;

[0041] Figure 8 A schematic diagram of a partial structure of a drone according to an embodiment of the present invention;

[0042] Fig. 9 This is one of the top views of the drone according to the embodiment of the present invention (only part of the structure of the drone is shown in the figure, and the seedling throwing system is in operation);

[0043] Fig.10 The second top view of the drone according to the embodiment of the present invention (the figure only shows part of the structure of the drone, and the seedling throwing system in the figure is in the seedling replenishing state);

[0044] Fig.11 The third top view of the drone according to the embodiment of the present invention (the figure only shows part of the structure of the drone, and the seedling throwing system is in operation);

[0045] Fig.12 The fourth top view of the drone according to the embodiment of the present invention (the figure only shows part of the structure of the drone, and the seedling throwing system is in operation);

[0046] Fig.13 A bottom view of the drone according to an embodiment of the present invention (only part of the structure of the drone is shown in the figure, and the seedling throwing system is in a seedling replenishing state in the figure);

[0047] Fig.14 The frame of the UAV described in the embodiment of the present invention;

[0048] Fig.15 This is one of the schematic diagrams of the cooperation between the seedling delivery module and the seedling throwing module according to an embodiment of the present invention;

[0049] Fig.16 This is the second schematic diagram of the coordination between the seedling delivery module and the seedling throwing module according to the embodiment of the present invention.

[0050] In the figure: 10, load module; 11, main bracket; 12, first bracket; 13, second bracket; 14, third bracket; 15, fourth bracket;

[0051] 20. Seedling delivery module; 21. Seedling delivery frame; 2101. Support surface; 2102. Seedling delivery opening; 2103. Top opening; 211. Seedling delivery tray; 2111. Seedling delivery bottom plate; 2112. Side baffle; 22. Conveying assembly; 23. Adapter frame;

[0052] 30. Seedling throwing module; 31. First driver; 32. Seedling throwing seat; 33. Seedling taking device;

[0053] 40. Seedling support board; 41. Opening for taking out the seedlings;

[0054] 51. First slide rail; 52. Transverse slide rail

[0055] 60. Transverse drive device; 61. Transverse drive; 62. Threaded rod; 63. Threaded sleeve;

[0056] 700, central area; 810, blanket seedlings; 811, blanket base; 812, leaves; 813, individual seedlings; 820, seedling tray; 910, fuselage; 911, rotor; 920, frame; 921, load frame; 922, tripod. DETAILED DESCRIPTION

[0057] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0058] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0060] In the related art, plant protection equipment equipped with a seedling throwing system generally has the following problems:

[0061] First, for ground agricultural machinery (plant protection vehicles) equipped with a seedling throwing system, it is necessary to reserve driving space for the agricultural machinery on the ground when operating. On the one hand, the utilization rate of the planting space is limited, and on the other hand, it is greatly restricted by the terrain. It is not convenient for ground agricultural machinery to reach and be used in special terrains such as terraces. Second, in some technologies, the seedling throwing system is carried on a drone, but this type of seedling throwing system has requirements for the type of seedlings, and can only be used for non-blanket seedlings (such as pot seedlings). However, farmers mainly use blanket seedlings to raise seedlings, and pot seedling raising is not popular. The drones equipped with the seedling throwing system in the relevant technology cannot be widely used. Third, when the drone space is limited, it is impossible to take into account both the efficiency of seedling throwing and the compactness of the structure.

[0062] Based on this, the present invention provides a seedling throwing system and a drone. The seedling throwing mechanism is suitable for throwing blanket seedlings 810, and the blanket seedlings 810 can be blanket seedlings or hole blanket seedlings.

[0063] The seedling throwing system is suitable for being carried on a drone for flying seedling throwing, and has a wide range of applications and is not restricted by terrain. The more widely used seedling raising method in the agricultural field is blanket seedling raising, and the seedling throwing system is suitable for taking and throwing the blanket seedlings 810, and has a wider range of applications. The seedling throwing system has a compact layout and can improve the efficiency of seedling throwing.

[0064] Figure 1 The structure of the pot seedling is shown in the figure. The pot seedling is a non-blanket seedling. Figure 1 The figure shows a seedling tray 820 for pot seedlings. A number of grooves are evenly arranged on the seedling tray 820. The grooves have openings above. There is a seedling in each groove. There is a hole at the bottom of each groove. A needle is inserted into the groove from the hole at the bottom, so that the seedlings can be pushed out for transplanting. However, this method of raising seedlings is not popular. Figure 2 , Figure 3The structure of the blanket seedling is shown in FIG. When the blanket seedling is cultivated, the blanket seedling includes a blanket base 811 at the bottom and a plurality of seedling plants (leaves 812) growing out of the blanket base 811. The blanket base 811 includes soil and the roots of the seedlings. The roots of the seedlings in the blanket base 811 are adhered to each other. The main method of raising seedlings by farmers is blanket seedlings. Figure 4 The structural form of the hole blanket seedling is shown in FIG. The difference between the hole blanket seedling and the blanket seedling is that a grid of grooves is formed on the back of the blanket base 811 of the hole blanket seedling, and grid-shaped protrusions are formed on the back of the blanket base 811 through the criss-crossing grooves. In other words, the hole blanket seedling is pre-cut but not completely cut off relative to the blanket base 811 of the blanket seedling. In the related art, no drone capable of transplanting the blanket seedlings 810 (blanket seedlings or hole blanket seedlings) has been found, which cannot meet the demand for using drones for transplanting in some cases.

[0065] Please refer to Figures 6 to 16 , a seedling throwing system and a drone provided by the present application are described below. For the convenience of description, the present application takes the throwing of blanket seedlings 810 as an example for description. When the blanket seedlings 810 are thrown and planted using the seedling throwing mechanism of the present application, the blanket seedlings 810 need to be cut by the seedling taker 33, and the blocks of blanket seedlings 810 are cut into multiple single seedlings 813 (such as Figure 5 shown).

[0066] The seedling throwing system includes a load module 10 and a plurality of seedling throwing mechanisms, each of which is installed on the load module 10, and the load module 10 is used to connect with the drone. Each seedling throwing mechanism includes a plurality of seedling delivery modules 20 and a plurality of seedling throwing modules 30, and at least one seedling throwing module 30 is arranged next to each seedling delivery module 20.

[0067] It should be noted that in the present application, multiple sets refers to two sets or more than two sets, and a plurality refers to two or more than two.

[0068] In the present application, the seedling delivery module 20 supports and delivers the blanket seedlings 810 to the seedling throwing mechanism, separates the blanket seedlings 810 through the seedling throwing mechanism, and throws out the separated single seedlings 813 to realize the seedling throwing operation. At the same time, the flying seedling throwing operation is realized in cooperation with the flight of the drone.

[0069] The seedling throwing mechanism includes a load module 10, a seedling delivery module 20 and a seedling throwing module 30. The load module 10 is used to be set on the drone. The seedling delivery module 20 is set on the load module 10, and the seedling delivery module 20 is used to support and transport the blanket seedlings 810. The seedling throwing module 30 is set on the load module 10, and the seedling throwing module 30 is used to separate the individual seedlings 813 from the blanket seedlings 810 on the seedling delivery module 20 and then throw them out through centrifugal force and / or ejection force. In this way, the drone can carry the seedling throwing mechanism to perform the seedling throwing operation, the blanket seedlings 810 are transported by the seedling delivery module 20, and the blanket seedlings 810 are separated by the seedling throwing module 30 and the individual seedlings 813 are thrown out, so as to realize the flying seedling throwing operation of the blanket seedlings 810.

[0070] There are many ways for the seedling throwing module 30 to separate the seedlings (i.e., the way of taking the seedlings), for example, cutting, grabbing, pushing out, pressing down, digging out, pulling, etc. The specific separation and taking methods are not limited.

[0071] There are many ways for the seedling throwing module 30 to throw the seedlings. In one embodiment, after the seedling throwing module 30 separates the seedlings from the blanket seedlings 810, the seedlings can be thrown out by centrifugal force. In one embodiment, after the seedling throwing module 30 separates the seedlings from the blanket seedlings 810, the separated seedlings can be ejected and thrown out by an ejection force (the seedling throwing module 30 can be provided with an ejection member, and the ejection member can provide an ejection force). In one embodiment, the seedling throwing module 30 can use the combined action of centrifugal force and ejection force to throw out the separated seedlings.

[0072] In this embodiment, the drone is a rotor 911 drone, specifically a quad-rotor 911 drone. Of course, it can also be a single-rotor 911 drone, a dual-rotor 911 drone, a six-rotor 911 drone, an eight-rotor 911 drone, etc. The drone can automatically operate according to a preset path, flight speed, attitude, etc., or the operator can manually control it. For ease of description, the drawings show the front, back, left, right, up, and down directions, which are all relative positional relationships that can be clearly known to those skilled in the art when the drone is conventionally placed or flying.

[0073] The figure shows a split-type seedling throwing system. Specifically, the load module 10 of the seedling throwing system can be detachably mounted on the lower part of the drone, that is, the drone and the seedling throwing system adopt an upper and lower split design. The drone is used as a mobile platform and is a split design with the seedling throwing system. In other words, this form of seedling throwing system is an independent structure that does not rely on the fuselage 910 frame of the drone. Based on this type, the corresponding device can be replaced according to actual operation requirements in a specific operation scene. For example, after the seedling throwing system is disassembled, a spreading device can be installed to achieve the spreading of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing system can be disassembled and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0074] Please refer to the following Figures 6 to 14 ,The main functions and structures of the seedling throwing system are explained below, and the UAV using the seedling throwing system is described.

[0075] The seedling delivery module 20 includes a seedling delivery frame 21 and a conveying assembly 22. The seedling delivery frame 21 includes a support surface 2101, and the support surface 2101 is used to support the blanket seedlings 810; one end of the seedling delivery frame 21 forms a seedling delivery opening 2102, and the conveying assembly 22 is arranged on the seedling delivery frame 21 or on the load module 10, and the conveying assembly 22 is used to convey the blanket seedlings 810 on the seedling delivery frame 21 to the seedling delivery opening 2102 along the conveying direction. The conveying assembly 22 can be a conveyor belt, or a conveying roller, etc. A plurality of conveying assemblies 22 can be provided, for example, a plurality of conveying assemblies 22 are provided along the conveying direction.

[0076] The seedling delivery rack 21 is tilted to reduce the space occupied by the seedling delivery rack 21 in horizontal width, and utilizes gravity to allow the blanket seedlings 810 to slide down, thereby reducing the requirements on the delivery power of the delivery component 22 and reducing the power consumption of the whole machine.

[0077] The seedling throwing module 30 includes a seedling taker 33 and a first driver 31. The main body of the first driver 31 is connected to the load module 10, and the driving part of the first driver 31 is connected to the seedling taker 33. The seedling taker 33 can be a seedling taker claw, a seedling taker blade, a seedling taker top pin, a seedling taker top frame, etc. Different seedling takers 33 are selected according to different forms of seedlings. The principle of taking and throwing seedlings of the seedling taker 33 is as follows: the seedling taker 33 rotates under the drive of the first driver 31 to move along the operating trajectory. The operating trajectory can be circular or irregularly curved (such as kidney-shaped). The seedling taker 33 can perform rotational motion or reciprocating motion. When the seedling taker 33 moves along the first stroke of the motion trajectory, the single seedling 813 is removed from the blanket seedling 810 sent from the seedling delivery port 2102 by cutting or other means, and the blanket seedling 810 sent by the seedling delivery frame 21 is separated. When the seedling taker 33 moves along the second stroke of the motion trajectory, the seedlings on the seedling taker 33 are thrown out of the seedling taker 33 by the action of centrifugal force and / or ejection force, thereby realizing the flying seedling throwing of the drone.

[0078] In order to improve the efficiency of picking up seedlings at a single position, the seedling throwing module 30 includes a seedling throwing seat 32, and the seedling throwing module 30 includes a plurality of seedling takers 33. The first driver 31 is connected to the seedling throwing seat 32 through a first rotating shaft, and the first driver 31 is used to drive the seedling throwing seat 32 to rotate around the axis of the first rotating shaft, and the plurality of seedling takers 33 are arranged around the first rotating shaft at intervals in the seedling throwing module 30.

[0079] A seedling throwing module 30 may include a plurality of seedling takers 33, and the number of the seedling takers 33 may be two, three, or four. The seedling takers 33 are evenly distributed around the seedling throwing seat 32, such as the angle between two seedling takers 33 and the center of the turntable is 180 degrees, three seedling takers 33 are spaced 120 degrees apart, and four seedling takers 33 are spaced 90 degrees apart.

[0080] The seedling delivery rack 21 and the seedling throwing module 30 of the present application are configured to be relatively movable laterally, so as to perform seedling picking and throwing of different areas of the blanket seedling 810 through the seedling taker 33. Exemplarily, the seedling delivery rack 21 can move left and right on the load module 10, while the seedling throwing module 30 is fixed on the load module 10, so that the blanket seedling 810 is driven to move left and right by the seedling delivery rack 21, and the blanket seedling 810 can be picked up from left to right or from right to left one by one (single seedling 813) and thrown by the stationary seedling taker 33. In other embodiments, the seedling delivery rack 21 can also be fixed on the load module 10, the seedling throwing module 30 can be moved left and right on the load module 10, the blanket seedling 810 is fixed, and the seedling taker 33 can be moved left and right, so as to perform seedling picking of the blanket seedling 810 from left to right or from right to left one by one.

[0081] In order to improve the efficiency of seedling throwing by drones, the seedling throwing system is equipped with multiple sets of seedling throwing mechanisms to improve the efficiency.

[0082] The seedling throwing system of the present application is configured with multiple sets of seedling throwing mechanisms, and the seedling sending frames 21 are arranged vertically inclined. In this way, the multiple seedling sending frames 21 of the multiple seedling throwing mechanisms of the seedling throwing system are arranged to be inclined in the same direction.

[0083] In other words, the seedling delivery rack 21 has the same inclination direction. Figure 6 , Figure 7 , Figures 9 to 12 , multiple sets of seedling throwing mechanisms are arranged at intervals along the Y direction, multiple seedling sending frames 21 are arranged at intervals along the Y direction, and the seedling sending frames 21 are configured to be inclined from top to bottom along the Y direction. Specifically, one side of the seedling sending frame 21 forms a support surface 2101, and the support surface 2101 of the seedling sending frame 21 is used to support the blanket seedlings 810. The support surfaces 2101 of multiple seedling sending frames 21 face the same side of the seedling throwing system. Correspondingly, the seedling sending module 20 and the seedling throwing module 30 are configured to be relatively movable along the X direction, so that the blanket seedlings 810 sent by the seedling sending module 20 can be picked up one by one through the seedling throwing module 30.

[0084] In one embodiment, the X direction is perpendicular to the Y direction, and the X direction is consistent with the width direction of the blanket seedling 810.

[0085] In one embodiment, one of the Y direction and the X direction refers to the left-right direction of the seedling throwing system, and the other direction refers to the front-back direction of the seedling throwing system. The Z direction refers to the vertical direction (i.e., the up-down direction) of the seedling throwing system. Exemplarily, the seedling throwing system includes a plurality of seedling throwing mechanisms arranged along the front-back direction, and a plurality of seedling sending racks 21 are arranged at intervals along the front-back direction. The seedling sending racks 21 are inclined forward from top to bottom, and the front side of the seedling sending racks 21 is a support surface 2101; when each seedling throwing mechanism performs seedling throwing, in a single seedling throwing mechanism, Fig.15 , Fig.16 The seedling sending module 20 and the seedling throwing module 30 are relatively moved horizontally along the left and right directions to carry out picking and throwing the seedlings one by one.

[0086] When the seedling throwing system is applied to a drone, the Z direction is the heading axis direction of the drone. In some embodiments, the X direction is the pitch axis of the drone, and the Y direction is the roll axis direction of the drone. In another embodiment, the X direction is the roll axis of the drone, and the Y direction is the pitch axis direction of the drone. Of course, the X direction and the Y direction may not be the pitch axis and the roll axis of the drone.

[0087] In the present application, a seedling throwing system is configured with multiple sets of seedling throwing mechanisms, and the seedling sending frame 21 is vertically inclined, and the multiple seedling sending frames 21 are configured in the same inclination direction (the supporting surfaces 2101 of the seedling sending frames 21 face the same side), which has the following effects:

[0088] First, multiple seedling delivery racks 21 can increase the number of seedlings that the drone can carry at a single time, increase the number of seedlings that the drone can throw in a single takeoff, and improve the efficiency of the drone throwing seedlings.

[0089] Second, among multiple sets of seedling throwing mechanisms, at least two sets of seedling throwing mechanisms can perform seedling throwing operations at the same time, thereby improving the efficiency of drone seedling throwing.

[0090] Third, among the multiple sets of seedling throwing mechanisms, at least two sets of seedling throwing mechanisms can perform seedling throwing operations at the same time. In this way, when performing the seedling throwing operation, the simultaneous movement of multiple seedling delivery modules 20 (such as reverse movement) or the simultaneous movement of multiple seedling throwing modules 30 (such as reverse movement) can offset or partially offset the tilt of the drone caused by the change of the center of gravity caused by the movement of the modules, thereby improving or eliminating the tilt of the drone caused by the change of the center of gravity caused by the movement of the modules, making the flight of the drone more stable and safer.

[0091] Fourthly, the vertically inclined setting of the seedling delivery frame 21 can effectively utilize the height space of the drone and save the space occupied by the seedling delivery frame 21 in the horizontal dimension of the drone.

[0092] Fifth, the inclination directions of the multiple seedling sending frames 21 in the multiple seedling throwing mechanisms are consistent, so that the coordination between the various seedling throwing mechanisms can be more compact, the positions between the adjacent seedling sending frames 21 can be more compact, and the space between the adjacent seedling sending frames 21 can be fully utilized. Figure 1 As shown in the figure, the seedling throwing module 30 of the rear seedling throwing mechanism can be at least partially arranged below the seedling sending frame 21 of the front seedling throwing mechanism, and some brackets for cooperating with the front seedling throwing mechanism can be at least partially arranged above the seedling throwing module 30 of the rear seedling throwing mechanism.

[0093] Reference Figure 8 The blanket seedlings 810 is generally a rectangular structure. In order to adapt to the structure of the blanket seedlings 810, one or more seedling delivery trays 211 are provided on the seedling delivery frame 21. Each seedling delivery tray 211 is a rectangular structure. Baffles are provided on the left and right sides of the seedling delivery tray 211, and no baffles are provided on the upper and lower sides. The seedling delivery tray 211 at least includes a seedling delivery bottom plate 2111 and side baffles 2112 located on both sides of the width direction of the seedling delivery bottom plate 2111. The side baffles 2112 on both sides are respectively connected to the seedling delivery bottom plate 2111, and the side baffles 2112 on both sides cooperate with the seedling delivery bottom plate 2111 to form a seedling trough. The front of the seedling delivery tray 211 forms a front opening, the top of the seedling delivery tray 211 forms an opening 2103, and the bottom forms a seedling delivery opening 2102.

[0094] The width of the seedling delivery tray 211 can match the width of a blanket or a tray of seedlings, and the height of the seedling delivery tray is not limited to the height of a blanket or a tray of seedlings.

[0095] The seedling delivery bottom plate 2111 is used to support the blanket base 811 of the blanket seedling 810, and the blades 812 of the blanket seedling 810 can also extend from the front opening. The side baffle 2112 is mainly used to limit the left and right positions of the blanket seedling 810. During the flight of the drone, the side baffle 2112 supports the left and right sides of the blanket base 811 of the blanket seedling 810 to prevent the blanket seedling 810 from slipping out laterally when the drone is flying in an inclined posture. The left and right positions of the blanket seedling 810 are restricted and can only be delivered to the seedling delivery port 2102, which also allows the seedling taker 33 of the seedling throwing module 30 to accurately move from left to right or from right to left to take the seedlings.

[0096] Combination Figures 8 to 14 The UAV includes a fuselage 910 and a frame 920, wherein the fuselage 910 includes a rotor 911, and the frame 920 includes a load frame 921 disposed below the fuselage 910, and also includes a tripod 922 connected to the load frame 921, and the tripod 922 extends downward from the load frame 921. During the take-off or landing process of the UAV, the tripod 922 plays a supporting role. A load space is formed between the load frame 921 and the tripod 922, and the load space can be used to accommodate a rice seedling throwing system. The rice seedling throwing system is disposed below the load frame 921, and is partially located on the inner side of the tripod 922, and can also be partially located on the outer side of the tripod 922.

[0097] After the drone takes off and finishes throwing the seedlings, it needs to land to replenish the seedlings and load the new blanket seedlings 810 into the seedling delivery frame 21.

[0098] However, the inventors found that when the seedling delivery racks 21 of multiple sets of seedling throwing mechanisms are tilted in the same direction, how to add new blanket seedlings 810 to the seedling delivery racks 21 becomes a problem that needs to be solved. The front seedling delivery rack 21 will block the front opening of the rear seedling delivery rack 21, and the front and rear seedling delivery racks 21 are configured with a small spacing to efficiently utilize the drone space. It is also not easy to put the blanket seedlings 810 into the rear seedling delivery rack 21 from the side of the spacing space between the front and rear seedling delivery racks 21, especially when side baffles 2112 are provided on the left and right sides of the width direction of the seedling delivery rack 21, the existence of the side baffles 2112 also makes it difficult to put the blanket seedlings 810 into the rear seedling delivery rack 21 from the side. Secondly, the inventors considered configuring a top opening 2103 connected to the seedling trough at the top of the seedling delivery rack 21, and using the top opening 2103 as a seedling filling opening, in order to find a way to slide the blanket seedlings 810 from top to bottom into the seedling delivery rack 21 from the seedling filling opening at the top of the seedling delivery rack 21. However, the inventors found that after the seedling throwing system was assembled on the drone, since the seedling delivery tray was vertically inclined and had a certain height, it was difficult for the user to fill the seedlings from the top opening 2103, and the load frame 921 of the drone would also block at least part of the top opening 2103 of the seedling delivery tray 211, that is, block the seedling filling opening, and it was impossible to fill the seedlings from top to bottom.

[0099] A first slide rail 51 extending along the X direction is arranged between the seedling delivery rack 21 and the load module 10, and the seedling delivery rack 21 is slidably connected to the load module 10 through the first slide rail 51; the seedling throwing system has an operating state and a seedling replenishing state. When the seedling throwing system is in the operating state, multiple seedling delivery racks 21 are all located in the central area 700 of the seedling throwing system; when the seedling throwing system is in the seedling replenishing state, at least part of the seedling delivery racks 21 move along the X direction to outside the central area 700.

[0100] In one embodiment, the drone includes a fuselage 910 , a frame 920 , and the aforementioned rice seedling throwing system. The fuselage 910 includes a rotor 911 .

[0101] The frame 920 includes a load frame 921 and a tripod 922. The tripod 922 is connected to the lower side of the load frame 921, and a load space is formed between the tripod 922 and the load frame 921. The seedling throwing system is arranged in the load space.

[0102] The central area 700 of the seedling throwing system is located at the central area 700 of the frame 920. When the seedling throwing system is in operation, the seedling delivery frame 21 is located below the load frame 921, and most of it is located inside the foot frame 922. When the seedling throwing system is in the seedling supplementing state, the seedling delivery frame 21 is separated from the foot frame 922.

[0103] In one embodiment, the first slide rail 51 can be a drawer-type pull-out slide rail, and the first slide rail 51 includes a first track seat and a first telescopic rail, the first track seat is connected to the load module 10, and the first telescopic rail is connected to the seedling delivery frame 21. By pulling the seedling delivery frame 21, the seedling delivery frame 21 can be pulled out laterally from the frame 920. In order to improve the weighing capacity, a segmented slide rail can be used. In other embodiments, the first slide rail 51 can also include a sliding rod and a sliding sleeve that are slidably matched, one of the sliding rod and the sliding sleeve is connected to the load module 10, and the other is connected to the seedling delivery frame 21. The first slide rail 51 can also be configured in other ways.

[0104] The first slide rails 51 may be provided with two or more to improve the weighing capacity and make it easier to return the seedlings to the seedling delivery rack 21 after the seedlings are released.

[0105] In order to solve the problem of difficulty in replanting seedlings in a seedling delivery rack 21 whose rear front opening is blocked when multiple seedling delivery racks 21 are tilted, the present application configures the seedling throwing system as follows: the seedling delivery rack 21 is slidably mounted on the load module 10 via a first slide rail 51, and the first slide rail 51 is configured to provide a sliding guide for the seedling delivery rack 21 to slide relative to the load module 10 along the X direction. The seedling delivery rack 21 has an inward position and a replanting position.

[0106] The first slide rail 51 may be a slide rail that cooperates with each other, or a slide rod and a slide sleeve that cooperate with each other.

[0107] When the seedling throwing system is in operation, the seedling delivery frame 21 is located in the retracted position, and the position of the seedling delivery frame 21 is centered or close to the center. At this time, the seedling filling port is located directly below the load frame 921. When the seedling delivery frame 21 needs to be filled, the seedling delivery frame 21 is moved leftward or rightward to slide from the retracted position to the seedling filling position by pulling, pushing or electric driving.

[0108] When the seedling throwing system is in the seedling filling state, when the seedling delivery frame 21 is in the seedling filling position, the seedling filling opening is moved out of the space below the load frame 921, so that the seedling filling opening is exposed, and then the blanket seedlings 810 are placed into the seedling delivery tray 211 from above the seedling filling opening, and after the blanket base 811 of the blanket seedlings 810 contacts the seedling delivery bottom plate 2111, they slide downward under the action of gravity until they completely enter the seedling groove, and the seedling filling is completed. After the seedling filling is completed, the seedling delivery frame 21 is slid inward and reset to the retracted position.

[0109] In some embodiments, when the seedling delivery frame 21 slides to switch between the retracted position and the seedling replenishing position, the conveying assembly 22 slides synchronously with the seedling delivery frame 21. In some other embodiments, before the seedling delivery frame 21 slides, the conveying assembly 22 is separated from the seedling delivery frame 21, and when the seedling delivery frame 21 slides to switch between the retracted position and the seedling replenishing position, the conveying assembly 22 does not slide.

[0110] The seedling throwing mechanism also includes a first locking member, which is arranged between the seedling sending frame 21 and the load module 10. The first locking member has a locked state and an unlocked state. When the first locking member is in the locked state, the first locking member restricts the sliding of the seedling sending frame 21; when the first locking member is in the unlocked state, the seedling sending frame 21 can slide relative to the load module 10 along the X direction. When it is not necessary to supplement the seedlings, the first locking member is switched to the locked state.

[0111] The first locking member may be a lock buckle, a locking fastener, a limit pin, etc.

[0112] In the seedling throwing system of the present application, the seedling delivery frame 21 of the seedling throwing mechanism can slide outward by pulling or pushing, so as to facilitate the seedling filling of the seedling delivery frame 21 whose front opening is blocked. The operation is simple when filling the seedlings. Compared with the method of separating and disassembling the entire seedling throwing mechanism from the fuselage 910 or the frame 920 of the drone and then filling the seedlings, it is easy to operate and convenient for farmers to use. When the seedling throwing system of the present application is applied to a drone, it takes into account multiple aspects, takes into account the compactness of multiple sets of seedling throwing mechanisms, and is convenient for farmers to perform seedling filling operations.

[0113] In order to make the structure more compact, the inclination angles of the seedling delivery rack 21 are consistent or substantially consistent. In other words, the support surfaces 2101 of the multiple seedling delivery racks 21 spaced apart along the Y direction are parallel, or the relative inclination angle between any two support surfaces 2101 is less than 20 degrees. Avoid too large a difference in the inclination angles of the support surfaces 2101, thereby avoiding space waste, making the overall space utilization of the drone more reasonable, and facilitating a compact layout. In one embodiment, the difference in the inclination angles of any two support surfaces 2101 relative to the XY plane is 0 to 5 degrees.

[0114] In order to increase the capacity of a single seedling throwing mechanism and improve the efficiency of seedling throwing, the seedling sending module 20 includes at least three seedling sending trays 211, and the at least three seedling sending trays 211 are arranged along the X direction.

[0115] In order to improve the efficiency of a single seedling throwing mechanism, the seedling throwing mechanism is configured as follows: the seedling delivery module 20 includes a plurality of seedling delivery trays 211 arranged along the X direction, and each seedling delivery tray 211 can support and place a blanket of seedlings 810, so that a single seedling delivery module 20 can simultaneously accommodate multiple blanket seedlings 810 placed along the X direction. Correspondingly, the seedling throwing mechanism is provided with a plurality of seedling throwing modules 30 at intervals along the X direction, and the seedling support plate 40 is provided with a plurality of seedling taking openings 41 at intervals along the X direction, so that the seedling planting capacity of a single set of seedling throwing system can be expanded, and the seedling throwing efficiency can also be improved. When the seedling throwing mechanism is in operation, multiple blanket seedlings 810 can be taken and thrown by multiple seedling throwing modules 30 at the same time, and multiple rows of seedlings can be thrown at the same time, with high operation efficiency. The seedling delivery frame 21 is provided with three seedling delivery trays 211, including three seedling throwing modules 30, and the seedling support plate 40 is provided with three seedling taking openings 41.

[0116] The seedling sending module 20 includes a plurality of seedling sending trays 211. The seedling sending module 20 may include a seedling sending frame 21, which is slidably mounted on the load module 10 through a first slide rail 51, and the seedling sending frame 21 includes a plurality of seedling sending trays 211 arranged along the X direction; or the seedling sending module 20 may include two seedling sending frames 21 arranged along the X direction, and each seedling sending frame 21 is slidably mounted on the load module 10 through a first slide rail 51.

[0117] The inventors have found that although the number of seedling delivery trays 211 arranged along the X direction in a single seedling throwing mechanism is increased, for example, the number of seedling delivery trays 211 is three or more, when the seedling throwing module 30 and the seedling delivery module 20 are relatively moved laterally, the seedlings can be thrown out in multiple rows at the same time, thereby improving the efficiency of seedling throwing. In the case where multiple seedling delivery trays 211 are configured, if it is necessary to meet the seedling replenishment needs of each seedling delivery tray 211, the seedling delivery frame 21 is pulled or pushed outward to move to a position where all the seedling replenishment openings are not blocked by the load frame 921, and a longer outward sliding stroke is required. In order to solve the problem of a longer sliding stroke of the seedling delivery frame 21 when a large number of seedling delivery trays 211 are configured. The present application is configured to set two seedling delivery frames 21 that can move in the opposite direction and slide out in the opposite direction in the same seedling delivery module 20.

[0118] The seedling delivery module 20 includes two seedling delivery racks 21 arranged along the X direction. The two seedling delivery racks 21 are slidably mounted on the load module 10 through two first slide rails 51 respectively. The X direction includes the opposite X1 direction and the X2 direction. The two seedling delivery racks 21 can move toward the outside of the central area 700 of the seedling throwing system along the X1 direction and the X2 direction respectively. When a single seedling delivery module 20 includes three or four seedling delivery trays 211, if the seedling delivery rack 21 is only pulled out from one side for seedling replacement, the pulling stroke is too long. Two seedling delivery racks 21 that can be pulled out to the left and right sides are configured. Multiple seedling delivery trays 211 can be carried on a single seedling delivery module 20, and the seedling replacement operation can be taken into account.

[0119] In one embodiment, handles are provided at both ends of the seedling delivery frame 21 in the X direction, so that farmers can directly pull out the seedling delivery frame 21 to carry out seedling replacement.

[0120] In one embodiment, in order to enable the seedling throwing module 30 to pick up the blanket seedlings 810 of the seedling delivery module 20 from left to right or from right to left, the seedling throwing system includes a transverse driving device 60, which is installed on the load module 10;

[0121] The seedling delivery module 20 is slidably installed on the load module 10 through the transverse slide rail 52, and the transverse drive device 60 is used to drive the seedling delivery module 20 to move relative to the seedling throwing module 30 along the X direction; or, the seedling throwing module 30 is slidably installed on the load module 10 through the transverse slide rail 52, and the transverse drive device 60 is used to drive the seedling throwing module 30 to move relative to the seedling delivery module 20 along the X direction; when the seedling throwing system is in an operating state, the seedling delivery module 20 and the seedling throwing module 30 move relative to each other along the X direction, so that the seedlings delivered by the seedling delivery module 20 can be picked up one by one from multiple areas through the seedling throwing module 30.

[0122] In one embodiment, the traverse drive device 60 is a screw drive device. Fig.13 The screw drive device includes a transverse drive 61 fixed to the load module 10 and the frame 920. The transverse drive 61 is a rotary drive. The transverse drive 61 can be, but is not limited to, a motor. The screw drive device also includes a threaded rod 62 and a threaded sleeve 63. The seedling throwing mechanism also includes a transverse slide rail 52 disposed between the seedling delivery frame 21 and the load module 10. One end of the threaded rod 62 is connected to the transverse drive 61, and the other end of the threaded rod 62 is rotatably mounted on the load module 10. The threaded sleeve 63 is sleeved on the transverse slide rail 52 and the threaded rod 62. The threaded rod 62 is driven to rotate by the transverse drive 61, thereby driving the seedling delivery frame 21 to slide relative to the load module 10 and the frame 920 along the x direction.

[0123] In one embodiment, the lateral movement driving device 60 is configured to drive the seedling delivery module 20 to move horizontally to the left and right, so that the blanket seedlings 810 on the seedling delivery module 20 can be taken out to the left and right through the fixed position seedling throwing module 30. On this basis, in order to take into account the left and right lateral movement of the seedling delivery frame 21 in the working state, and to pull out the seedlings to be replaced after the seedlings on the seedling delivery frame 21 are used up, the seedling throwing system is configured as follows:

[0124] The seedling delivery module 20 also includes a transverse driving device 60 and an adapter frame 23; the seedling delivery frame 21 is slidably installed on the adapter frame 23 through a first slide rail 51; the adapter frame 23 is slidably installed on the load module 10 through a transverse slide rail 52, and the driving end of the transverse driving device 60 is connected to the adapter frame 23; when the seedling throwing system is in an operating state, the transverse driving device 60 is used to drive the adapter frame 23 and the seedling delivery frame 21 to move laterally along the X direction relative to the seedling throwing module 30; when the seedling throwing system is in a seedling supplementing state, the seedling delivery frame 21 slides relative to the adapter frame 23 under the action of tension or thrust to move toward the center area 700.

[0125] In this way, when it is necessary to replenish seedlings, the adapter frame 23 and the seedling sending frame 21 can be first moved horizontally to the extreme position through the transverse driving mechanism, and then the seedling sending frame 21 can be pulled to slide relative to the adapter frame 23. This shortens the sliding stroke of the seedling sending frame 21 relative to the adapter frame 23 and reduces the requirements for the first slide rail 51.

[0126] In other embodiments, the threaded rod 62 can also be directly used as the first slide rail 51, that is, the transverse driving device 60 is used to move the seedling delivery rack 21 in the middle area 700 when the seedling throwing system is in the operating state, and is also used to move the seedling delivery rack 21 to outside the middle area 700 when the seedling throwing system is in the seedling replenishing state.

[0127] The inventors found that when the seedling delivery racks 21 of multiple seedling delivery modules 20 are configured to be inclined in the same direction, since at least a portion of the seedling throwing module 30 needs to be located in the front side (the oblique front side also belongs to the front side) area of ​​the seedling delivery block, and the space between two adjacent seedling delivery racks 21 is relatively compact. However, when the seedling throwing system is in use, there is a need to replace or repair the seedling taker 33. For example, if the sampler is a cutter head, it may be necessary to select a seedling throwing module 30 with three or two cutter heads according to the needs. When it is necessary to replace or repair the entire or part of the seedling throwing module 30, the replacement and maintenance operation space of the seedling throwing module 30 located relatively close to the middle is relatively small, and the operation is inconvenient.

[0128] In view of the problem that the whole or part of the seedling throwing module 30 is inconvenient to disassemble, replace, and repair, the present application also configures the seedling throwing module 30 to slide outward by pulling or pushing, so as to move the seedling throwing module 30 to a position convenient for disassembly. Two configurations of the seedling throwing module 30 are provided below, so that the seedling throwing module 30 can be slid to an unobstructed position before being disassembled and repaired.

[0129] Configuration method 1 of seedling throwing module 30:

[0130] The seedling throwing module 30 and the seedling delivery rack 21 are slidably installed on the load module 10 through different sliding components, and cooperate with the load module 10 through different locking parts, so that the seedling delivery rack 21 can be pulled out separately for seedling replenishment, or the seedling throwing module 30 can be pulled out separately for disassembly and maintenance.

[0131] The seedling throwing module 30 is slidably mounted on the load module 10 via the second slide rail, and the seedling throwing module 30 can slide relative to the load module 10 along the X direction. A second locking member is provided between the seedling throwing module 30 and the load module 10, and when the second locking member is in an unlocked state, the seedling throwing module 30 can slide relative to the load module 10 along the X direction, so as to slide the seedling throwing module 30 to an unobstructed position, providing a larger operating space for convenient maintenance and replacement operations such as blade replacement. When the second locking member is in a locked state, the sliding of the seedling throwing module 30 is restricted, ensuring that the seedling throwing module 30 remains in the working area when replacement is not required.

[0132] The first slide rail 51 may be a slide rail that cooperates with each other, or a slide rod and a slide sleeve that cooperate with each other.

[0133] The first slide rail 51 can be a multi-section nested slide rail, which can provide a longer pulling stroke and is convenient for storage when the seedling delivery rack 21 is retracted. The multi-section nested slide rail can provide more reliable support and improve the deformation resistance of the slide rail.

[0134] The first locking member may be a lock buckle, a locking fastener, a limit pin, etc.

[0135] The pulling and pushing operations of the seedling throwing module 30 are separated from the pulling and pushing operations of the seedling sending rack 21. In the normal case where only the seedling replenishing operation is needed, the seedling sending rack 21 can only be pulled out or pushed out without driving the seedling throwing module 30 to slide, thereby reducing the external force required to pull or push outward, making the seedling replenishing operation easier.

[0136] Configuration mode 2 of seedling throwing module 30:

[0137] The seedling throwing module 30 and the seedling sending frame 21 are slidably mounted on the load module 10 through the same sliding assembly, and the seedling throwing module 30 and the seedling sending frame 21 can be pulled out or pushed out at the same time.

[0138] Specifically, the seedling throwing module 30 is connected to the seedling delivery module 20 through a connecting frame to form a seedling throwing assembly. Of course, the seedling throwing assembly may also include other components. The connecting frame is slidably mounted on the load module 10 through a first slide rail 51. When the first locking member is in an unlocked state, the seedling throwing assembly can slide relative to the load module 10 along the X direction. When the first locking member is in a locked state, the sliding of the seedling throwing assembly is restricted.

[0139] The seedling throwing frame and the seedling delivery module 20 are slidably installed by the same first slide rail 51, so the overall structure is simpler.

[0140] It can be understood that in the present application, the pushing and pulling of the seedling delivery rack 21 and the pushing and pulling of the seedling throwing module 30 can be achieved by manual operation or by mechanical drive such as a linear drive.

[0141] In one embodiment, the drone includes a load frame 921 and two tripods 922, the two tripods 922 are respectively a first tripod and a second tripod; the first tripod and the second tripod are connected to opposite sides of the load frame 921 in the X direction. Exemplarily, the X direction is the left and right direction of the drone, and when the seedling throwing system is in the seedling filling state, the seedlings are thrown to the front side of the drone, and the seedling throwing is not blocked by the tripod 922. When the seedling filling is needed, the seedling delivery frame 21 is pulled out from the left or right side to expose the top opening 2103 of the seedling delivery frame 21, and the seedlings are put in from the top opening 2103.

[0142] In one embodiment, the load module 10 is detachably or non-detachably fixed to the rack 920 , and the load module 10 includes a main bracket 11 , a first bracket 12 , a second bracket 13 , a third bracket 14 and a fourth bracket 15 .

[0143] In one embodiment, referring to Figure 1 , the main support 11 is connected between a plurality of tripods 922. In one embodiment, the first support 12 is disposed between the back side of the seedling delivery rack 21 and the main support 11 to support the inclined seedling delivery rack 21. The first support 12 is fixed or hinged to the main support 11. The first support 12 is slidably matched with the seedling delivery rack 21 through the transverse slide rail 52 and / or the first slide rail 51, so that the seedling delivery rack 21 can slide relative to the main support 11 and the frame 920. In one embodiment, one end of the second support 13 is connected to the transverse drive device 60, and the other end is connected to the seedling delivery rack 21. In one embodiment, the seedling supporting plate 40 is connected to the main support 11 through the third support 14. In one embodiment, the seedling throwing module 30 is connected to the main support 11 through the fourth support 15.

[0144] It should be noted that, in other embodiments, the load module 10 may also be configured in other ways, as long as the installation and matching requirements between the components of the seedling throwing system and the frame 920 are met.

[0145] In the description of this article, it should be understood that the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0146] In the description of this specification, the description with reference to the terms "an embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0147] In addition, it should be understood that although this specification is described according to implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0148] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the scope of protection of the present invention.

Claims

1. A seedling throwing system, characterized in that: include: A load module (10), used for connecting to the drone; A plurality of seedling throwing mechanisms are installed on the load module (10); each of the seedling throwing mechanisms comprises a seedling sending module (20) and a seedling throwing module (30); the seedling sending module (20) comprises a seedling sending frame (21), the seedling sending frame (21) has a support surface (2101) for supporting seedlings, the seedling sending frame (21) has a seedling sending opening (2102), and the seedling sending module (20) is configured to send the seedlings to the seedling sending opening (2102); the seedling throwing module (30) is used to take the seedlings through the seedling sending opening (2102) and throw the taken seedlings out; Wherein, the plurality of seedling sending frames (21) are arranged along the Y direction; the seedling sending frames (21) are inclined along the Z direction so that the supporting surface (2101) is inclined, and the supporting surfaces (2101) of the plurality of seedling sending frames (21) face the same side of the seedling throwing system.

2. The seedling throwing system according to claim 1, characterized in that: The seedling delivery module (20) comprises a conveying assembly (22), wherein the conveying assembly (22) is installed on the seedling delivery frame (21), and the conveying assembly (22) is used to deliver the seedlings on the seedling delivery frame (21) to the seedling delivery port (2102).

3. The seedling throwing system according to claim 1, characterized in that: The seedling throwing module (30) comprises a first driver (31) and a seedling taker (33); the first driver (31) is connected to the seedling taker (33) to drive the seedling taker (33) to move along a motion trajectory; when the seedling taker (33) moves along a first stroke of the motion trajectory, the seedlings delivered by the seedling delivery rack (21) are separated; when the seedling taker (33) moves along a second stroke of the motion trajectory, the seedling throwing module (30) throws the seedlings on the seedling taker (33).

4. The seedling throwing system according to claim 3, characterized in that: The seedling throwing module (30) comprises a seedling throwing seat (32), and the seedling throwing module (30) comprises a plurality of seedling takers (33); The first driver (31) is connected to the seedling throwing seat (32) via a first rotating shaft, and the first driver (31) is used to drive the seedling throwing seat (32) to rotate around the axis of the first rotating shaft. A plurality of seedling takers (33) are arranged around the first rotating shaft at intervals on the seedling throwing module (30).

5. The seedling throwing system according to any one of claims 1 to 4, characterized in that: A first slide rail (51) extending along the X direction is arranged between the seedling delivery frame (21) and the load module (10), and the seedling delivery frame (21) is slidably connected to the load module (10) via the first slide rail (51); The seedling throwing system has an operating state and a seedling replenishing state. When the seedling throwing system is in the operating state, a plurality of the seedling sending frames (21) are located in a central area (700) of the seedling throwing system. When the seedling throwing system is in the seedling replenishing state, at least part of the seedling sending frames (21) move along the X direction to outside the central area (700).

6. The seedling throwing system according to claim 5, characterized in that: The seedling delivery frame (21) comprises a seedling delivery tray body (211); the seedling delivery tray body (211) comprises a seedling delivery bottom plate (2111) and side baffles (2112) connected to both sides of the seedling delivery bottom plate (2111) in the x direction, and a seedling groove is formed between the seedling delivery bottom plate (2111) and the side baffles (2112) on both sides; The front of the seedling delivery tray (211) forms a front opening, the seedling delivery opening (2102) is formed at the bottom of the seedling delivery tray (211), and the top of the seedling delivery tray (211) forms a top opening (2103).

7. The seedling throwing system according to claim 5, characterized in that: It also includes a first locking member, wherein the first locking member is arranged between the seedling sending frame (21) and the first slide rail (51), or between the load module (10) and the first slide rail (51); The first locking member has an unlocked state and a locked state; when the first locking member is in the unlocked state, the seedling sending frame (21) can move along the X direction to enter or move out of the central area (700); when the first locking member is in the locked state, the seedling sending frame (21) is restricted from moving toward the outside of the central area (700).

8. The seedling throwing system according to claim 5, characterized in that: The seedling delivery module (20) comprises two seedling delivery frames (21) arranged along the X direction, and the two seedling delivery frames (21) are slidably mounted on the load module (10) via two first slide rails (51) respectively; The X direction includes an opposite X1 direction and an X2 direction, and the two seedling delivery racks (21) can move toward the outside of the central area (700) of the seedling throwing system along the X1 direction and the X2 direction respectively.

9. The seedling throwing system according to claim 6, characterized in that: The seedling sending module (20) comprises at least three seedling sending trays (211), and at least the three seedling sending trays (211) are arranged along the X direction.

10. The seedling throwing system according to any one of claims 1 to 4, characterized in that: The seedling throwing system comprises a transverse driving device (60), and the transverse driving device (60) is installed on the load module (10); The seedling delivery module (20) is slidably mounted on the load module (10) via a transverse sliding rail (52), and the transverse driving device (60) is used to drive the seedling delivery module (20) to move relative to the seedling throwing module (30) along the X direction; or, the seedling throwing module (30) is slidably mounted on the load module (10) via a transverse sliding rail (52), and the transverse driving device (60) is used to drive the seedling throwing module (30) to move relative to the seedling delivery module (20) along the X direction; When the seedling throwing system is in an operating state, the seedling delivery module (20) and the seedling throwing module (30) move relatively along the X direction, so that the seedling throwing module (30) can pick up the seedlings one by one from multiple areas of the seedlings delivered by the seedling delivery module (20).

11. The seedling throwing system according to claim 6, characterized in that: The seedling delivery module (20) further comprises a transverse driving device (60) and an adapter frame (23); The seedling delivery frame (21) is slidably mounted on the adapter frame (23) via the first slide rail (51); the adapter frame (23) is slidably mounted on the load module (10) via the transverse slide rail (52), and the driving end of the transverse drive device (60) is connected to the adapter frame (23); When the seedling throwing system is in the operating state, the transverse driving device (60) is used to drive the adapter frame (23) and the seedling delivery frame (21) to move laterally relative to the seedling throwing module (30) along the X direction; when the seedling throwing system is in the seedling supplementing state, the seedling delivery frame (21) slides relative to the adapter frame (23) under the action of a pulling force or a pushing force to move toward the central area (700).

12. The seedling throwing system according to any one of claims 1 to 4, characterized in that: The seedling throwing module (30) is slidably mounted on the load module (10) via a second slide rail, and the seedling throwing module (30) can slide relative to the load module (10) along the X direction; a second locking member is provided between the seedling throwing module (30) and the load module (10), and when the second locking member is in an unlocked state, the seedling throwing module (30) can slide relative to the load module (10) along the X direction, and when the second locking member is in a locked state, the sliding of the seedling throwing module (30) is restricted.

13. A drone, characterized in that: include: A machine body, comprising a machine body (910) and a frame (920) connected to the machine body (910); According to the seedling throwing system as described in any one of claims 1 to 12, the load module (10) is installed on the frame (920).

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