Seedling throwing system, unmanned aerial vehicle and flying seedling throwing method

Abstract

The invention discloses a seedling slinging system, an unmanned aerial vehicle and a flying seedling slinging method, and belongs to the technical field of agriculture. The seedling slinging system comprises a load module and a plurality of seedling slinging mechanisms, the seedling throwing mechanism comprises a seedling feeding module and a seedling throwing module; the seedling conveying module comprises a seedling conveying disc and a conveying assembly, the seedling conveying disc is provided with a seedling conveying supporting surface, and the seedling conveying supporting surface is horizontal or basically horizontal; a seedling feeding opening is formed in one side of the seedling feeding disc; the seedling throwing module is arranged beside the seedling feeding port and is used for separating and throwing out seedlings; the plurality of seedling throwing mechanisms are arranged at intervals in the vertical direction, and projection areas, projected into the horizontal plane of the seedling throwing system, of the adjacent layers of seedling conveying discs are at least partially overlapped. The unmanned aerial vehicle carries the seedling throwing system. The seedling slinging system is suitable for an agricultural unmanned aerial vehicle, multiple trays of seedlings can be loaded at the same time for operation, and the seedling slinging efficiency is improved; the seedling conveying disc is horizontal, so that a plurality of seedling throwing mechanisms can be arranged in a stacked mode, more seedlings are loaded, meanwhile, too much space is not occupied, and the layout is reasonable. The flying seedling throwing method is high in seedling throwing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural equipment, and in particular to a seedling throwing system, an unmanned aerial vehicle and a flying seedling throwing method. 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 the layout of the drones is unreasonable. Summary of the invention

[0003] One of the purposes of the embodiments of the present invention is to provide a seedling throwing system, in which the seedling delivery tray is horizontal and multiple sets of seedling throwing mechanisms are vertically stacked, which can be applied to drones and has a reasonable layout.

[0004] The second purpose of the embodiment of the present invention is to provide an unmanned aerial vehicle and a flying seedling throwing method, which can realize flying seedling throwing with little restriction by terrain.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A seedling throwing system, comprising:

[0007] A payload module, used to connect with the drone;

[0008] A plurality of seedling throwing mechanisms are respectively installed on the load modules; the seedling throwing mechanism includes a seedling sending module and a seedling throwing module; the seedling sending module includes a seedling sending tray and a conveying assembly, the seedling sending tray has a seedling sending support surface, the seedling sending support surface is horizontally arranged or has an inclination angle of less than 20 degrees relative to the horizontal plane of the seedling throwing system, one side of the seedling sending tray has a seedling sending opening, and the conveying assembly is used to transport the seedlings supported by the seedling sending tray to the seedling sending opening; the seedling throwing module is arranged next to the seedling sending opening, and the seedling throwing module is used to separate and throw the seedlings;

[0009] Wherein, a plurality of the seedling throwing mechanisms are arranged at intervals in the vertical direction, and projection areas of the seedling delivery discs of adjacent seedling throwing mechanisms projected onto the horizontal plane of the seedling throwing system at least partially overlap.

[0010] Optionally, projection areas of the seedling delivery openings of two adjacent layers of the seedling delivery trays projected onto the horizontal plane of the seedling throwing system are staggered;

[0011] The seedling delivery openings of the seedling delivery trays of two adjacent layers are located at different sides of the seedling throwing system, or the seedling delivery openings of the seedling delivery trays of adjacent layers are located at the same side of the seedling throwing system and are staggered in the horizontal direction.

[0012] Optionally, there is an avoidance space below each of the seedling throwing modules, and the seedling delivery module and the seedling throwing module are both arranged to avoid the avoidance space.

[0013] Optionally, the seedling sending supporting surfaces of the plurality of seedling sending trays arranged at vertical intervals are parallel to each other.

[0014] Optionally, the seedling delivery tray is a rectangular seedling delivery tray; the seedling throwing system includes four layers of the seedling throwing mechanism, the seedling delivery openings of the four layers of the seedling delivery tray are respectively formed on four sides, and the seedling throwing modules in the four layers of the seedling throwing mechanism are respectively located on four sides.

[0015] Optionally, the seedling throwing mechanism of the first layer includes a first seedling sending tray, the seedling throwing mechanism of the second layer includes a second seedling sending tray, the seedling throwing mechanism of the third layer includes a third seedling sending tray, and the seedling throwing mechanism of the second layer includes a fourth seedling sending tray; the seedling sending opening of the first seedling sending tray is the first seedling sending opening, the seedling sending opening of the second seedling sending tray is the second seedling sending opening, the seedling sending opening of the third seedling sending tray is the third seedling sending opening, and the seedling sending opening of the fourth seedling sending tray is the fourth seedling sending opening;

[0016] The first seedling delivery opening and the third seedling delivery opening are located on opposite sides of the seedling throwing system in the x-axis direction, and the second seedling delivery opening and the fourth seedling delivery opening are located on opposite sides of the seedling throwing system in the y-axis direction; or, the first seedling delivery opening and the second seedling delivery opening are located on opposite sides of the seedling throwing system in the x-axis direction, and the third seedling delivery opening and the fourth seedling delivery opening are located on opposite sides of the seedling throwing system in the y-axis direction.

[0017] Optionally, the seedling delivery tray is a rectangular seedling delivery tray having a long side and a short side, and the seedling delivery opening is formed on the short side of the seedling delivery tray.

[0018] Optionally, every two of the seedling throwing mechanisms form a seedling throwing assembly; the seedling throwing system comprises two layers of seedling throwing assemblies spaced apart in the vertical direction;

[0019] The first layer of the seedling throwing assembly includes a first seedling sending tray, a second seedling sending tray, a first seedling throwing module and a second seedling throwing module; the first seedling sending tray and the second seedling sending tray are arranged along the x direction, and the first seedling throwing module and the second seedling throwing module are arranged on opposite sides of the seedling throwing assembly in the x direction;

[0020] The second layer of seedling throwing assembly includes a third seedling sending tray, a fourth seedling sending tray, a third seedling throwing module and a fourth seedling throwing module; the third seedling sending tray and the fourth seedling sending tray are arranged along the y direction, and the third seedling throwing module and the fourth seedling throwing module are arranged on opposite sides of the seedling throwing assembly in the y direction.

[0021] Optionally, the seedling delivery tray comprises a first tray body and a second tray body connected to each other; the seedling delivery support surface is formed on the top surface of the first tray body; the second tray body extends downward relative to the first tray body, the top surface of the second tray body forms a seedling sliding surface, and the seedling delivery port is formed at the bottom end of the second tray body.

[0022] Optionally, the seedling throwing module includes a first drive, a seedling throwing seat and a seedling taker; one or more seedling takers are installed on the seedling throwing seat, the first drive is installed on the load module, and the first drive is connected to the seedling throwing seat to drive the seedling throwing seat to rotate.

[0023] Optionally, the seedling throwing module includes a seedling supporting plate, which is arranged next to the seedling delivery port, and is used to support the seedlings delivered from the seedling delivery port; the seedling supporting plate is provided with a seedling taking opening, and the first driver is used to drive the seedling taker to rotate through the seedling taking opening.

[0024] Optionally, the seedling throwing mechanism includes a transverse driving device, and the transverse driving device is installed on the load module;

[0025] The seedling delivery module is slidably mounted on the load module, the transverse driving device is connected to the seedling delivery module, and the transverse driving device is used to drive the seedling delivery module to move transversely relative to the seedling throwing module;

[0026] Alternatively, the seedling throwing module is slidably mounted on the load module, the transverse driving device is connected to the seedling throwing module, and the transverse driving device is used to drive the seedling throwing module to move laterally relative to the seedling delivery module.

[0027] A drone, comprising:

[0028] the fuselage; and,

[0029] In the seedling throwing system as described in any of the above schemes, the load module is connected to the fuselage.

[0030] A flying seedling throwing method is applied to a drone equipped with a seedling throwing system, wherein the seedling throwing system comprises a plurality of seedling throwing mechanisms arranged at intervals in a vertical direction, wherein the seedling throwing mechanism comprises a seedling sending module and a seedling throwing module; the flying seedling throwing method comprises:

[0031] Controlling the UAV to fly along a first direction, and controlling the seedling throwing module in the seedling throwing system located to the side of the first direction of the seedling delivery module to perform a seedling throwing task;

[0032] The unmanned aerial vehicle is controlled to fly along the second direction, and the seedling throwing module in the seedling throwing system located to the side of the second direction of the seedling delivery module is controlled to perform the seedling throwing task.

[0033] The beneficial effects of the present invention are as follows: the seedling throwing system is suitable for agricultural drones, and can simultaneously load multiple trays of seedlings for operation, thereby improving the efficiency of seedling throwing; the seedling delivery trays are horizontal, so that multiple sets of seedling throwing mechanisms can be stacked, and while loading more seedlings, they will not take up too much space, and the layout is reasonable. The flying seedling throwing method has high seedling throwing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0035] Figure 1 It is a schematic diagram of a single set of seedling throwing mechanism in the seedling throwing system of the drone according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of two sets of seedling throwing mechanisms arranged at intervals in the vertical direction in the seedling throwing system of the drone implemented in the present invention;

[0037] Figure 3 is a schematic diagram of a drone according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of a seedling tray delivered by a drone according to an embodiment of the present invention;

[0039] Figure 5 This is one of the schematic diagrams of the cooperation between the seedling delivery module and the seedling throwing module in the seedling throwing mechanism of the drone according to the embodiment of the present invention;

[0040] Figure 6 This is a second schematic diagram of the cooperation between the seedling delivery module and the seedling throwing module in the seedling throwing mechanism of the drone according to an embodiment of the present invention;

[0041] Figure 7 A structural schematic diagram of a rice seedling throwing module used by the drone according to an embodiment of the present invention;

[0042] Figure 8 A structural schematic diagram of a conveying component of a seedling conveying module of a drone according to an embodiment of the present invention;

[0043] Fig. 9 This is a schematic diagram of a first layout of multiple sets of seedling throwing mechanisms in the drone according to an embodiment of the present invention;

[0044] Fig.10 This is a schematic diagram of a second layout of multiple sets of seedling throwing mechanisms in the drone according to an embodiment of the present invention;

[0045] Fig.11 This is a schematic diagram of a third layout of multiple sets of seedling throwing mechanisms in the drone according to an embodiment of the present invention;

[0046] Fig.12 This is a schematic diagram of a fourth layout of multiple sets of seedling throwing mechanisms in the drone according to an embodiment of the present invention;

[0047] Fig.13 This is one of the fifth layout schematic diagrams of multiple sets of seedling throwing mechanisms in the drone according to the embodiment of the present invention (side view);

[0048] Fig.14 This is the second schematic diagram (top view) of the fifth layout of multiple sets of seedling throwing mechanisms in the drone according to the embodiment of the present invention;

[0049] Fig.15 It is a schematic diagram of the first layer of seedling throwing components of the sixth layout of multiple sets of seedling throwing mechanisms in the drone according to an embodiment of the present invention;

[0050] Fig.16 It is a schematic diagram of the second-layer seedling throwing assembly of the sixth layout of multiple sets of seedling throwing mechanisms in the drone according to an embodiment of the present invention;

[0051] Fig.17 A top view of a sixth layout of multiple sets of seedling throwing mechanisms in the drone according to an embodiment of the present invention;

[0052] Fig.18 This is a schematic diagram of the distribution of the roll axis, pitch axis, and yaw axis of the drone according to an embodiment of the present invention;

[0053] Fig.19 This is a schematic diagram of a drone according to an embodiment of the present invention flying in a first direction to throw seedlings (in the figure, L1 is a reference line of the landing point of the thrown seedlings);

[0054] Fig. 20 Schematic diagram of the drone flying along the second direction to throw seedlings according to an embodiment of the present invention (in the figure, L2 is a reference line of the landing point of the thrown seedlings);

[0055] Fig.21 It is a schematic diagram of a seedling tray for pot seedlings in the related art;

[0056] Fig. 22 It is a schematic three-dimensional diagram of the blanket seedling;

[0057] Fig.23 This is a side view of the blanket seedling;

[0058] Fig.24 This is a schematic diagram of the hole blanket seedling;

[0059] Fig.25 The present invention is a single rice seedling taken out from the blanket seedlings by the rice seedling taker of the embodiment of the present invention.

[0060] In the figure: 100, seedling throwing mechanism; 1001, horizontal plane of the seedling throwing system; 200, fuselage; 310, load frame; 320, tripod; 800, blanket seedling; 810, blanket base; 820, blade; 830, single seedling;

[0061] 10. Load module;

[0062] 20. Seedling delivery module; 21. Seedling delivery tray; 211. Seedling delivery support surface; 212. Seedling sliding surface; 213. Seedling delivery opening; 214. First tray body; 215. Second tray body; 22. Conveying assembly;

[0063] 2101, first seedling delivery tray; 2102, second seedling delivery tray; 2103, third seedling delivery tray; 2104, fourth seedling delivery tray; 2131, first seedling delivery opening; 2132, second seedling delivery opening; 2133, third seedling delivery opening; 2134, fourth seedling delivery opening;

[0064] 30. Seedling throwing module; 31. First driver; 32. Seedling throwing seat; 33. Seedling picker; 3101. First seedling throwing module; 3102. Second seedling throwing module; 3103. Third seedling throwing module; 3104. Fourth seedling throwing module;

[0065] 50. Seedling support board; 51. Opening for taking out the seedlings;

[0066] 60. Transverse drive device. DETAILED DESCRIPTION

[0067] 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.

[0068] 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.

[0069] 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.

[0070] The current rice transplanters on the market are generally tractors in the field that pull the rice transplanting system. They are costly, inefficient, and subject to terrain restrictions. It is not convenient for agricultural machinery to reach special terrains such as terraces. Some drones are equipped with rice transplanting systems, but the layout is unreasonable.

[0071] The present application provides a seedling throwing system and a drone, which are suitable for being carried on a drone for seedling throwing. Compared with a ground transplanting agricultural machine, the seedling throwing system can adapt to more terrains and has a high seedling throwing efficiency. The seedling throwing system, on the one hand, includes multiple sets of seedling throwing mechanisms 100, which can improve the efficiency of seedling throwing. On the other hand, the main part of the seedling delivery tray 21 of the seedling throwing machine is arranged horizontally or substantially horizontally. Based on this, multiple layers of seedling delivery trays 21 can be arranged at intervals in the vertical direction. While increasing the seedling carrying capacity of the seedling throwing system, the structure is more compact and does not take up too much space, which is conducive to being carried on a drone.

[0072] In the related art, there are pot seedlings and blanket seedlings. However, some equipment can only remove and throw the pot seedlings, and is not suitable for throwing blanket seedlings. The present application is suitable for throwing blanket seedlings 800, which include blanket seedlings and hole blanket seedlings. Among them, pot seedlings are non-blanket seedlings, Fig.21 The figure shows a seedling tray for pot seedlings. There are several grooves evenly arranged on the seedling tray. The top of the grooves are open. 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. Fig. 22 , Fig.23 The structure of the blanket seedling is shown in FIG. When the blanket seedling is cultivated, the blanket seedling includes a blanket base 810 at the bottom and a plurality of seedling leaves 820 growing out of the blanket base 810. The blanket base 810 includes soil and the roots of the seedlings. The roots of the seedlings in the blanket base 810 are adhered to each other. The main method of raising seedlings by farmers is blanket seedlings. Fig.24The structural form of the hole blanket seedling is shown in the figure. The difference between the hole blanket seedling and the blanket seedling is that a grid-like groove is formed on the back of the blanket base 810 of the hole blanket seedling, and a grid-like protrusion is formed on the back of the blanket base 810 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 810 of the blanket seedling. In the related art, no drone capable of transplanting the blanket seedlings 800 (blanket seedlings or hole blanket seedlings) has been found, which cannot meet the demand for using drones for transplanting in some cases.

[0073] Please refer to Figures 1 to 20 , 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 seedling throwing of blanket seedlings 800 as an example for description. When the seedling throwing mechanism 100 of the present application is used to throw the blanket seedlings 800 for planting, the blanket seedlings 800 need to be cut by the seedling taker 33, and the blocks of blanket seedlings 800 are cut into multiple single seedlings 830 (such as Fig.25 shown).

[0074] The drone includes a fuselage 200 and a seedling throwing system, and the fuselage 200 includes a rotor. The seedling throwing system includes a plurality of seedling throwing mechanisms 100, each of which can independently perform seedling throwing operations. It is possible to control a plurality of seedling throwing mechanisms 100 to perform seedling throwing operations simultaneously, or to control a plurality of seedling throwing mechanisms 100 to perform seedling throwing operations successively, so as to improve the efficiency of seedling throwing and achieve better operation results. It should be noted that in this application, a plurality refers to two or more than two, and a plurality of sets refers to two sets or more than two sets.

[0075] The seedling throwing mechanism 100 includes a load module 10 , a seedling throwing module 30 , a seedling delivery module 20 , a seedling supporting plate 50 , and a transverse driving device 60 .

[0076] The load module 10 is used to be directly or indirectly connected to the drone fuselage 200. The load modules 10 of multiple seedling throwing mechanisms 100 are connected and then connected to the drone fuselage 200, or the load modules 10 of multiple seedling throwing mechanisms 100 are connected to the drone fuselage 200 respectively.

[0077] The seedling conveying module 20 is disposed on the loading module 10 . Figure 1 The figure shows a configuration of the seedling delivery module 20. The seedling delivery module 20 includes a seedling delivery tray 21 and a conveying assembly 22. The seedling delivery tray 21 has a seedling delivery support surface 211, which is used to support the seedlings, and a seedling delivery opening 213 is formed on one side of the seedling delivery tray 21. The conveying assembly 22 is provided on the seedling delivery tray 21, and is used to convey the blanket seedlings 800 to the seedling delivery opening 213.

[0078] The seedling throwing module 30 is disposed on the load module 10 , and the seedling throwing module 30 is disposed beside the seedling delivery port 213 . Figures 1 to 8, some configuration modes of the seedling throwing module 30 are illustrated. The seedling throwing module 30 is used to separate a single seedling 830 from the blanket seedling 800 on the seedling delivery module 20 and then throw it out by centrifugal force and / or ejection force. In this way, the drone can carry the seedling throwing mechanism 100 to perform the seedling throwing operation, the blanket seedling 800 is transported by the seedling delivery module 20, and the seedling throwing module 30 separates the blanket seedling 800 and then throws out the single seedling 830, thereby realizing the flying seedling throwing operation of the blanket seedling 800.

[0079] Among them, there can be 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 seedling taking methods are not limited. 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 800, 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 800, the separated seedlings can be ejected and thrown out by the ejection force (the seedling throwing module 30 can be provided with an ejection member, and the ejection member can provide the 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.

[0080] Please continue to refer to Figures 1 to 4 , Figures 9 to 12 , the main part of the seedling tray 21 is configured to be horizontal or substantially horizontal, or the entire seedling tray 21 is configured to be horizontal or substantially horizontal. Figure 1 , Figure 3 , Figure 4 The seedling sending support surface 211 is horizontal or substantially horizontal, and the inclination angle of the seedling sending support surface 211 relative to the horizontal plane 1001 of the seedling throwing system is 0 to 20 degrees. Figure 4 In the figure, S1 indicates the plane where the seedling delivery support surface 211 is located. The inclination angle between the seedling delivery support surface 211 and the horizontal plane 1001 of the seedling throwing system is a. The seedling delivery support surface 211 is inclined at a small angle, so that the basically horizontal seedling delivery tray 21 is easier to deliver the seedlings. The horizontal plane 1001 of the seedling throwing system is an imaginary plane. When the seedling throwing system is mounted on the fuselage 200 or the frame of the drone, the heading axis of the drone is perpendicular to the horizontal plane 1001 of the seedling throwing system.

[0081] Optionally, the inclination angle of the seedling sending support surface 211 relative to the horizontal plane 1001 of the seedling throwing system is 0 to 10 degrees. Optionally, the inclination angle of the seedling sending support surface 211 relative to the horizontal plane 1001 of the seedling throwing system is 0 to 5 degrees. Optionally, the inclination angle of the seedling sending support surface 211 relative to the horizontal plane 1001 of the seedling throwing system is 0 to 3 degrees.

[0082] Wherein, substantially horizontal means that the rice seedling delivery support surface 211 can be inclined at a small angle relative to the horizontal plane, for example, at an inclination of 0.5 to 20 degrees. It is understandable that the horizontality of the rice seedling delivery support surface 211 can be detected by setting a level meter on the rice seedling delivery support surface 211 when the drone is parked on a relatively flat ground.

[0083] In order to make the overall layout more compact and avoid excessive differences in the angles between the seedling sending support surfaces 211 of the seedling sending tray 21, in some embodiments, the plurality of seedling sending support surfaces 211 are arranged to be parallel to each other.

[0084] Multiple seedling throwing mechanisms 100 are arranged at intervals in the vertical direction, and the vertical direction is the up and down direction of the seedling throwing system. In the figure, the vertical direction is indicated by the z direction. Based on the horizontal or substantially horizontal arrangement of the seedling delivery tray 21, when multiple seedling throwing mechanisms 100 are stacked in the vertical direction, they are more compact and occupy less space, which is conducive to being mounted on drones with high space requirements. Multiple seedling throwing mechanisms 100 are arranged at intervals, which also increases the seedling carrying capacity and improves the efficiency of seedling throwing.

[0085] It should be noted that in the present application, the x direction and the y direction are horizontal directions of the seedling throwing system, and the x direction, the y direction, and the z direction are perpendicular to each other. Of course, in some other embodiments, the x direction and the y direction may not be perpendicular.

[0086] In order to make the overall structure compact, the plurality of seedling delivery trays 21 are configured as follows: Figure 2 , Figure 3 , Figures 9 to 14 , Fig.17 , the projection areas of the seedling delivery trays 21 of the adjacent seedling throwing mechanisms 100 projected onto the horizontal plane 1001 of the seedling throwing system at least partially overlap. That is, the upper seedling delivery tray 21 at least partially blocks the upper portion of the lower seedling delivery tray 21, so as to fully utilize the vertical space of the drone and avoid occupying too much horizontal space.

[0087] In order to facilitate production and manufacture and to adapt to the seedling raising habits of farmers, the model and size of the seedling delivery tray 21 used in the seedling throwing mechanism 100 are basically the same.

[0088] The configuration of each set of seedling throwing mechanism 100 is described in more detail below.

[0089] When the drone is flying and throwing seedlings, the seedlings on the seedling delivery tray 21 are transported from back to front. The seedling throwing module 30 first takes and throws the first row of seedlings sent out by the seedling delivery tray 21. When the first row of seedlings is taken out, the seedlings on the seedling delivery tray 21 are transported forward one row.

[0090] The seedling delivery module 20 includes a conveying assembly 22. A seedling delivery opening 213 is formed on one side of the seedling delivery tray 21 in the y direction or the x direction, and the conveying assembly 22 is used to deliver the seedlings on the seedling delivery support surface 211 to the seedling delivery opening 213 along the y direction or the x direction. After the seedling delivery tray 21 is set horizontally or substantially horizontally, the conveying assembly 22 is configured to ensure that the substantially horizontal blanket seedlings can be continuously delivered to the seedling delivery opening 213, and the seedling throwing module 30 takes the seedlings row by row.

[0091] The conveying assembly 22 is arranged at the bottom and / or the side of the seedling delivery tray 21. The conveying assembly 22 can be a conveyor belt, a conveying roller (such as a wolf tooth wheel), a conveying chain, etc. The conveying assembly 22 can be partially inserted into the blanket base 810 of the blanket seedling 800 to increase the friction force for conveying the blanket seedlings. When conveying the blanket seedlings, the conveying assembly 22 can contact one or more of the bottom surface, side surface, and top surface of the blanket base 810.

[0092] In order to make it easier to send the seedlings, the front end of the seedling sending tray 21 is inclined to facilitate the removal of the seedlings. Figures 1 to 4 The seedling delivery tray 21 includes a first tray 214 and a second tray 215 connected to each other. The first tray 214 is a flat tray, and the seedling delivery support surface 211 is formed on the top surface of the first tray 214. The second tray 215 extends downward. In other words, the second tray 215 is matched with the first tray 214 at an angle. The top surface of the second tray 215 forms a seedling sliding surface 212, and a seedling delivery opening 213 is formed at the bottom end of the second tray 215. The first tray 214 is arranged horizontally or substantially horizontally, which can save the height space of the drone. A plurality of seedling storage trays are arranged above the first tray 214 of the seedling delivery tray 21 to supplement the seedlings to the first tray 214. The second tray 215 extends downward, and when the blanket seedlings 800 are transported close to the seedling delivery port 213, the front blanket seedlings 800 can slide downward toward the seedling delivery port 213 under the action of gravity, reducing the transport power consumption of the conveying assembly 22, and more easily delivering the blanket seedlings 800 to the seedling delivery port 213 for the seedling throwing module 30 to pick up and throw the seedlings. In some embodiments, the conveying assembly 22 is provided on both the first tray 214 and the second tray 215. In some embodiments, the conveying assembly 22 is provided only on the first tray 214.

[0093] Reference Figures 1 to 4 The second plate 215 is bent downward to form an arc-shaped, curved sliding surface 212. The arc-shaped sliding surface 212 has a smooth transition between the seedling delivery support surface 211, the sliding surface 212, and the seedling delivery port 213, which is beneficial to protect the blanket base 810 of the blanket seedling 800 from being scratched and prevent the blanket base 810 from being scratched and becoming loose. In other embodiments, the sliding surface 212 can also be a plane.

[0094] In other embodiments, a flat plate may be used as the seedling delivery plate 21, that is, the second plate body 215 extending downward is not provided.

[0095] Reference Figure 1 , Figure 2 , Figure 5 , Figure 6 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 needle, a seedling taker top frame, etc. Different seedling takers 33 are selected according to different forms of seedlings. The principle of seedling taking and seedling throwing of the seedling taker 33 is as follows: the seedling taker 33 is driven by the first driver 31 to rotate and move along the working track. The working track 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 track, the single seedling 830 is removed from the blanket seedling 800 sent out from the seedling delivery port 213 by cutting or other methods, and the blanket seedling 800 sent out by the seedling delivery tray 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.

[0096] 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.

[0097] 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 two seedling takers 33 are at an angle of 180 degrees to the center of the turntable, three seedling takers 33 are at an interval of 120 degrees, and four seedling takers 33 are at an interval of 90 degrees.

[0098] Reference Figure 1 , Figure 2 , Figure 5 , Figure 6 The seedling throwing module 30 includes a seedling supporting plate 50, which is arranged next to the seedling delivery port 213, and is used to support the seedlings delivered by the seedling delivery port 213; the seedling supporting plate 50 is provided with a seedling taking opening 51, and the first driver 31 is used to drive the seedling taker 33 to rotate through the seedling taking opening 51.

[0099] In order to facilitate the picking and throwing of the outermost row of the blanket seedlings 800, the throwing mechanism 100 also includes a supporting plate 50. The supporting plate 50 is arranged beside the seedling delivery port 213. The supporting plate 50 is used to support the blanket seedlings 800 delivered by the seedling delivery module 20. When implemented, the supporting plate 50 can be configured to support the outermost row of the blanket seedlings 800, that is, the row to be picked. The supporting plate 50 is provided with a seedling picking opening 51. When the seedling throwing module 30 performs the seedling picking action, the seedling picking device 33 passes through the seedling picking opening 51 to cut the blanket seedlings 800 supported by the supporting plate 50 to separate and take out the individual seedlings 830.

[0100] The setting of the seedling support plate 50 can support the first row of blanket seedlings 800 to be removed, prevent the outermost blanket seedlings 800 from shaking and being difficult to separate, and ensure that the seedling remover 33 cuts the blanket seedlings 800 that are supported and only exposed to the seedling removal opening 51 when rotating through the seedling removal opening 51, so as to accurately cut the target area, and it is not easy to cut the blanket seedlings 800 in the non-target area, so as to separate the single seedlings 830. In other words, the setting of the seedling support plate 50 also improves the uniformity of the amount of seedlings removed each time.

[0101] In order to realize that the blanket seedlings 800 are separated and thrown out one by one, the seedling delivery module 20 and the seedling throwing module 30 are configured to be relatively movable along the lateral direction, such as Figure 5 , Figure 6 As shown, by the relative transverse movement of the seedling delivery module 20 and the seedling throwing module 30, the seedling throwing module 30 can take and throw the seedlings from different areas on the seedling delivery module 20. In order to provide transverse movement force, the seedling throwing mechanism 100 includes a transverse movement driving mechanism, which is installed on the load module 10.

[0102] In some embodiments, the seedling delivery module 20 is slidably mounted on the load module 10, and the transverse driving device 60 is connected to the seedling delivery module 20, and the transverse driving device 60 is used to drive the seedling delivery module 20 to move transversely relative to the seedling throwing module 30. That is, when throwing the seedlings, the seedling delivery module 20 moves transversely, and the seedling supporting plate 50 and the seedling throwing module 30 do not move transversely.

[0103] In other embodiments, the seedling throwing module 30 is slidably mounted on the load module 10, and the transverse driving device 60 is connected to the seedling throwing module 30, and the transverse driving device 60 is used to drive the seedling throwing module 30 to move transversely relative to the seedling sending module 20. That is, when the seedlings are thrown, the seedling supporting plate 50 and the seedling throwing module 30 move transversely synchronously, and the seedling sending module 20 does not move transversely.

[0104] The layout of multiple sets of seedling throwing mechanisms 100 in the drone is described below.

[0105] In order to ensure that each layer of the seedling throwing mechanism 100 can throw the seedlings smoothly on the basis of vertically stacking the seedling feeding tray 21, Figures 9 to 18, the projection areas of the seedling delivery openings 213 of the two adjacent layers of seedling delivery trays 21 projected onto the horizontal plane 1001 of the seedling throwing system are staggered. By staggering the seedling delivery openings 213 of the adjacent layers, in the two adjacent layers of seedling throwing mechanisms 100, it is possible to avoid the seedling throwing modules 30 of the lower layer from hindering the throwing of the single seedling 830 of the upper layer. In this way, on the basis of configuring the multi-layer seedling throwing mechanism 100, reliable seedling throwing and dropping are guaranteed, and the seedling throwing mechanisms 100 of the adjacent layers throw and pick up the seedlings from different sides, so as to avoid the seedling picking mechanism below blocking the seedling picking and dropping path of the seedling picking mechanism of the upper layer when the seedling picking mechanism picks up and throws the seedlings.

[0106] The seedling delivery openings 213 of adjacent layers may be staggered. The multiple layers of seedling delivery openings 213 may be located on the same side of the seedling throwing system. The seedling delivery openings 213 are staggered by designing intervals in the horizontal direction. Alternatively, the multiple layers of seedling delivery openings 213 may be located on different sides of the seedling throwing system.

[0107] The seedling delivery openings 213 of the multi-layer seedling delivery tray 21 are arranged on the same side of the seedling throwing system, that is, the seedling delivery openings 213 of the multi-layer seedling delivery tray 21 are arranged on the same side of the seedling throwing mechanism 100 where they are located. Fig. 9 As shown, the seedling delivery openings 213 of the multi-layer seedling delivery tray 21 are all located at the front side of the seedling delivery tray 21. Correspondingly, the seedling throwing modules 30 of the multi-layer seedling throwing mechanism 100 are all arranged at the front side of the seedling delivery tray 21. Fig. 9 , based on the fact that the seedling delivery openings 213 of the multi-layer seedling delivery tray 21 are located on the same side, in order to stagger the seedling delivery openings 213 of adjacent layers, the multi-layer seedling delivery tray 21 can adopt a drawer-type design, and the seedling delivery tray 21 of the upper layer is moved forward by a certain position relative to the seedling delivery tray 21 of the lower layer, so that the upper layer can extend outward. In other words, the seedling delivery opening 213 of the upper layer is located forward relative to the seedling delivery opening 213 of the lower layer, so that when the seedling delivery opening 213 of the seedling delivery tray 21 is located on the same side of the seedling throwing system, the seedling delivery opening 213 is staggered, so that the seedlings thrown out by the upper-layer throwing module 30 will not be blocked by the lower-layer throwing module 30 as much as possible when they fall. When a seedling delivery tray 21 is configured as a rectangle, and the seedling outlet is configured on the long side of the rectangle (such as Figure 5 , Figure 6 As shown), the multi-layer seedling throwing mechanism 100 is configured in the manner of this embodiment, the overall layout is compact and the seedling throwing operation of each layer of the seedling throwing mechanism 100 is smooth.

[0108] The seedling delivery opening 213 of the multi-layer seedling delivery tray 21 can also be arranged on different sides of the seedling throwing system, that is, the seedling delivery opening 213 of the multi-layer seedling delivery tray 21 is arranged on different sides of the seedling throwing mechanism 100 where it is located, and the different sides can be two sides, three sides, four sides, etc. Fig.10 , Fig.11 As shown, in the seedling throwing system, the seedling delivery openings 213 of the multi-layer seedling delivery tray 21 are distributed on the left and right sides or the front and back sides. Figure 12 to Figure 14As shown, in the seedling throwing system, the seedling delivery openings 213 of the multi-layer seedling delivery tray 21 are distributed on the front side, the rear side, the left side, and the right side. Fig.12 , Fig.13 The seedling delivery opening 213 of the seedling delivery tray 21 located at the uppermost layer is located on the back side and is not shown.

[0109] Reference Fig. 9 as well as Fig.10 The seedling transplanting system includes a multi-layer seedling delivery tray 21, which is a rectangular seedling delivery tray 21 to adapt to the rectangular shape of the blanket seedlings 800. On this basis, the multi-layer seedling delivery tray 21 is configured as follows: the long side extension direction and the short side extension direction of multiple seedling delivery trays 21 are consistent, that is, multiple seedling delivery trays 21 are horizontally arranged, or multiple seedling delivery trays 21 are horizontally arranged. Fig. 9 The seedling delivery openings 213 of the multi-layer seedling delivery tray 21 are arranged on the same side, and the multi-layer seedling delivery tray 21 is similar to a multi-layer drawer-type design to achieve the misalignment of the seedling delivery openings 213. Fig.10 The seedling delivery openings 213 of the seedling delivery trays 21 of adjacent layers are arranged on adjacent two sides, and the multi-layer seedling throwing mechanism 100 is arranged in a pyramid-like shape. Fig.10 The seedling delivery opening 213 of the first-layer seedling delivery tray 21 is arranged on the first side of the seedling throwing system, the seedling delivery opening 213 of the second-layer seedling delivery tray 21 is arranged on the second side of the seedling throwing system, the seedling delivery opening 213 of the third-layer seedling delivery tray 21 is arranged on the first side of the seedling throwing system, and the seedling delivery opening 213 of the fourth-layer seedling delivery tray 21 is arranged on the second side of the seedling throwing system. In order to avoid mutual interference between the seedling throwing of adjacent layers of the seedling throwing mechanism 100, the multi-layer seedling throwing mechanism 100 adopts a pyramid-like arrangement, the seedling throwing module 30 of the third layer is arranged on the outside of the seedling throwing module 30 of the first layer, and the seedling throwing module 30 of the fourth layer is arranged on the outside of the seedling throwing module 30 of the second layer, so as to realize the misalignment of the seedling delivery opening 213 and the seedling throwing module 30.

[0110] The bottom of each seedling throwing module 30 is a space for avoiding positions. Figure 2 , Figure 3 , Fig. 9 , Fig.10 , Figure 12 to Figure 14 , Fig.17 As shown, the seedling delivery module 20 and the seedling throwing module 30 located at the lower layer are both arranged to avoid the avoidance space. In this way, each seedling throwing module 30 occupies a vertical space alone, and the area directly below each seedling throwing module 30 is not blocked by other seedling throwing modules 30 and other seedling delivery trays 21, so that the seedlings can fall reliably after the seedling throwing module 30 takes the seedlings. It can be understood that there is no restriction on the layout above each seedling throwing module 30.

[0111] Of course, in other embodiments, such as Fig.11As shown, the vertical space below each seedling throwing module 30 can also be arranged with a seedling throwing module 30 or a seedling delivery tray 21, which can be arranged by increasing the spacing between the seedling throwing modules 30 located in the same vertical space (such as Fig.11 The arrangement of one layer interval adopted in the invention) or by controlling the seedling discharge position of the seedling throwing module 30, the falling trajectory of the single seedling 830 thrown out by the upper seedling throwing module 30 is adjusted to not interfere with the lower seedling throwing module 30 and the lower seedling delivery tray 21. Fig.11 The curved dotted line in the figure is used to illustrate the trajectory of the seedlings being thrown and falling, but it is only for illustration. The actual throwing trajectory may be different from the illustrated trajectory.

[0112] The seedling delivery tray 21 is a rectangular seedling delivery tray 21 to adapt to the rectangular shape of the blanket seedlings 800. The seedling throwing system includes a four-layer seedling throwing mechanism 100, and the seedling delivery ports 213 of the four-layer seedling delivery tray 21 are respectively formed on the four sides of the seedling throwing system, and the seedling throwing modules 30 in the four-layer seedling throwing mechanism 100 are respectively located on the four sides of the seedling throwing system.

[0113] The first-layer seedling throwing mechanism 100 includes a first seedling delivering tray 2101, the second-layer seedling throwing mechanism 100 includes a second seedling delivering tray 2102, the third-layer seedling throwing mechanism 100 includes a third seedling delivering tray 2103, and the second-layer seedling throwing mechanism 100 includes a fourth seedling delivering tray 2104; the seedling delivery opening 213 of the first seedling delivering tray 2101 is a first seedling delivery opening 2131, the seedling delivery opening 213 of the second seedling delivering tray 2102 is a second seedling delivery opening 2132, the seedling delivery opening 213 of the third seedling delivering tray 2103 is a third seedling delivery opening 2133, and the seedling delivery opening 213 of the fourth seedling delivering tray 2104 is a fourth seedling delivery opening 2134. The seedling throwing module 30 of the first layer of the seedling throwing mechanism 100 is the first seedling throwing module 3101, the seedling throwing module 30 of the second layer of the seedling throwing mechanism 100 is the second seedling throwing module 3102, the seedling throwing module 30 of the third layer of the seedling throwing mechanism 100 is the third seedling throwing module 3103, and the seedling throwing module 30 of the fourth layer of the seedling throwing mechanism 100 is the fourth seedling throwing module 3104. Based on this, the four-layer seedling throwing mechanism 100 can be configured in at least the following two ways:

[0114] Configuration method 1: Refer to Fig.12 The first seedling delivery opening 2131 and the third seedling delivery opening 2133 are located on opposite sides of the seedling throwing system in the x-axis direction, and the second seedling delivery opening 2132 and the fourth seedling delivery opening 2134 are located on opposite sides of the seedling throwing system in the y-axis direction ( Fig.12 The y-axis direction is perpendicular to the inside and outside of the paper surface). That is, the first layer is horizontal, the second layer is horizontal, the third layer is horizontal, and the fourth layer is horizontal.

[0115] Configuration method 2: Reference Fig.13 , Fig.14The first seedling delivery opening 2131 and the second seedling delivery opening 2132 are located at opposite sides of the seedling throwing system in the x-axis direction, and the third seedling delivery opening 2133 and the fourth seedling delivery opening 2134 are located at opposite sides of the seedling throwing system in the y-axis direction ( Fig.13 The y-axis direction is the inside-outside direction of the paper perpendicular to the paper surface). That is, the first and second layers are horizontally laid; the third and fourth layers are horizontally laid vertically.

[0116] The advantages of configuration method 2 over configuration method 1 are as follows: the lower two layers and the upper two layers can be divided into two rounds of seedling picking; in the first round of seedling picking, the first and second layer seedling sending plates 21 move laterally in opposite directions, and in the second round of seedling picking, the third and fourth layer seedling sending plates 21 move laterally in opposite directions; in this way, in each round of seedling picking, the two seedling sending plates 21 that need to move laterally at the same time are located on adjacent sides, the center of gravity of the seedling sending plates 21 is close, and the center of gravity changes little in each round of seedling picking.

[0117] Reference Fig.14 The seedling delivery tray 21 is a rectangular seedling delivery tray 21, which has a long side and a short side, and the seedling delivery opening 213 is formed on the short side of the seedling delivery tray 21. The rectangular seedling delivery tray 21 is adapted to the shape of the seedling tray, and the seedling taking mechanism is arranged on the short side, which is conducive to staggering the seedling taking mechanisms of adjacent layers in the case of vertical stacking.

[0118] Reference Figures 15 to 17 Every two seedling throwing mechanisms 100 form a seedling throwing assembly. The seedling throwing system includes two layers of seedling throwing assemblies arranged at intervals in the vertical direction.

[0119] Reference Fig.15 The first layer of seedling throwing assembly includes a first seedling sending tray 2101, a second seedling sending tray 2102, a first seedling throwing module 3101 and a second seedling throwing module 3102. The first seedling sending tray 2101 and the second seedling sending tray 2102 are arranged along the x direction, and the first seedling throwing module 3101 and the second seedling throwing module 3102 are arranged on opposite sides of the seedling throwing assembly in the x direction.

[0120] Reference Fig.16 The second layer of seedling throwing assembly includes a third seedling delivery tray 2103, a fourth seedling delivery tray 2104, a third seedling throwing module 3103 and a fourth seedling throwing module 3104. The third seedling delivery tray 2103 and the fourth seedling delivery tray 2104 are arranged along the y direction, and the third seedling throwing module 3103 and the fourth seedling throwing module 3104 are arranged on opposite sides of the seedling throwing assembly in the y direction.

[0121] Reference Fig.17After the two layers of seedling throwing components are stacked, not only can the seedlings be thrown out from the front, back, left and right sides of the seedling throwing system, but also the same layer of seedling throwing components is equipped with two sets of seedling throwing mechanisms 100, which can be moved in the opposite direction through the seedling delivery tray 21 of the same layer, so as to take into account both high-efficiency seedling throwing and stable flight of the UAV. For example, the first seedling delivery tray 2101 and the second seedling delivery tray 2102 can be moved in the opposite direction, so that the immobile first seedling throwing module 3101 and the second seedling throwing module 3102 can be carried out to pick up and throw the seedlings one by one in the horizontal direction, thereby improving the efficiency of seedling throwing. In addition, the two seedling delivery trays 21 in the same layer of seedling throwing components move in the opposite direction, which brings about force offset, reduces the impact on the center of gravity of the UAV, and is conducive to maintaining a stable flight attitude, avoiding the shaking and tilting of the UAV, and ensuring the seedling throwing effect while ensuring flight safety.

[0122] When the rice seedling throwing mechanism 100 is assembled to the drone, the load module 10 is connected to the frame of the drone, or the load module 10 is connected to the fuselage 200 of the drone.

[0123] In some embodiments, the drone includes a fuselage 200, a frame and a seedling throwing mechanism 100. The load module 10 is installed on the frame. The frame may include a load frame 310 and a tripod 320. When the seedling throwing mechanism 100 needs to be assembled or disassembled, the seedling throwing mechanism 100 load module 10 can be assembled or disassembled with the drone frame.

[0124] In other embodiments, the UAV includes a fuselage 200 and a seedling throwing mechanism 100, and the load module 10 includes a load frame 310, a tripod 320 and other structures. When the seedling throwing mechanism 100 needs to be assembled or disassembled, the seedling throwing mechanism 100 load module 10 and the UAV fuselage 200 can be assembled or disassembled.

[0125] In this embodiment, the drone is a rotor drone, specifically a quad-rotor drone. Of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone can automatically operate according to a preset path, flight speed, attitude, etc., or be manually controlled by an operator. For ease of description, the drawings show directions such as front, back, left, right, up, and down. These directions are all relative positional relationships that can be clearly known to those skilled in the art when the drone is conventionally placed or flying.

[0126] The figure shows a split-type seedling throwing mechanism 100. Specifically, the load module 10 of the seedling throwing mechanism 100 can be detachably mounted on the lower part of the drone, that is, the drone and the seedling throwing mechanism 100 adopt a split-up and down design. The drone, as a mobile platform, is a split design with the seedling throwing mechanism 100. In other words, this type of seedling throwing mechanism 100 is an independent structure that does not rely on the fuselage 200 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 mechanism 100 is disassembled, a sowing device is installed to achieve the sowing of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0127] The present application also provides a flying seedling throwing method, which can be performed by a drone based on the structure of the above-mentioned embodiment.

[0128] Reference Fig.19 , Fig. 20 The flying seedling throwing method is applied to a UAV mounted with a seedling throwing system, the seedling throwing system includes a plurality of seedling throwing mechanisms 100 arranged at intervals in a vertical direction, the seedling throwing mechanism 100 includes a seedling sending module 20 and a seedling throwing module 30; the flying seedling throwing method includes:

[0129] Control the drone to fly in a first direction, and control the seedling throwing module 30 in the seedling throwing system located laterally to the first direction of the seedling delivery module 20 to perform the seedling throwing task;

[0130] The drone is controlled to fly along the second direction, and the seedling throwing module 30 located on the side of the second direction of the seedling delivery module 20 in the seedling throwing system is controlled to perform the seedling throwing task.

[0131] The seedling throwing system carried by the drone arranges the seedling throwing module 30 on one side or both sides of the first direction, and arranges the seedling throwing module 30 on one side or both sides of the second direction. The seedling throwing module 30 on the corresponding side can be realized by changing the flight direction of the drone. The drone has high efficiency and good effect of seedling throwing.

[0132] In this embodiment, the first direction is a forward or backward direction; controlling the drone to fly along the first direction, and controlling the seedling throwing module 30 located on the side of the first direction of the seedling delivery module 20 in the seedling throwing system to perform the seedling throwing task includes:

[0133] Control the drone to fly forward or backward, control the seedling throwing module 30 located in front of the seedling sending module 20 in the seedling throwing system to perform the seedling throwing task, and / or control the seedling throwing module 30 located in the rear of the seedling sending module 20 in the seedling throwing system to perform the seedling throwing task;

[0134] The second direction is a left or right direction; controlling the drone to fly along the first direction, and controlling the seedling throwing module 30 located on the side of the first direction of the seedling sending module 20 in the seedling throwing system to perform the seedling throwing task includes:

[0135] Control the drone to fly left or right, control the seedling throwing module 30 located on the left side of the seedling sending module 20 in the seedling throwing system to perform the seedling throwing task, and / or control the seedling throwing module 30 located on the right side of the seedling sending module 20 in the seedling throwing system to perform the seedling throwing task.

[0136] In one embodiment, referring to Fig.19 , Fig. 20 The drone includes four seedling throwing mechanisms 100, which are stacked, and the seedling throwing modules 30 are arranged on the front, back, left, and right sides of the drone. In this way, the drone can first fly along its own front and back direction to control the front and back seedling throwing modules 30 to throw seedlings, and then the drone can fly in its own optimal direction to control the left and right seedling throwing modules 30 to throw seedlings. Compared with the seedling throwing modules 30 on the front, back, left, and right sides of the drone when the drone flies forward and backward, the scheme of this embodiment that the front and back side seedlings are thrown in the front and back flight and the left and right side seedlings are thrown in the back and right flight can realize the seedling throwing of farmland row by row, and the seedling throwing effect is good, which meets the needs of seedling throwing operation.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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 (100) are respectively installed on the load module (10); the seedling throwing mechanism (100) comprises a seedling sending module (20) and a seedling throwing module (30); the seedling sending module (20) comprises a seedling sending tray (21) and a conveying assembly (22); the seedling sending tray (21) comprises a seedling sending support surface (211); the seedling sending support surface (211) is arranged horizontally or has an inclination angle of less than 20 degrees relative to a horizontal plane (1001) of the seedling throwing system; one side of the seedling sending tray (21) comprises a seedling sending opening (213); the conveying assembly (22) is used for conveying the seedlings supported by the seedling sending tray (21) to the seedling sending opening (213); the seedling throwing module (30) is arranged beside the seedling sending opening (213); the seedling throwing module (30) is used for separating and throwing out the seedlings; Wherein, a plurality of the seedling throwing mechanisms (100) are arranged at intervals in the vertical direction, and the projection areas of the seedling delivery trays (21) of adjacent seedling throwing mechanisms (100) projected onto the horizontal plane (1001) of the seedling throwing system at least partially overlap.

2. The seedling throwing system according to claim 1, characterized in that: The projection areas of the seedling delivery openings (213) of two adjacent layers of the seedling delivery trays (21) projected onto the horizontal plane (1001) of the seedling throwing system are staggered; The seedling delivery openings (213) of the seedling delivery trays (21) of two adjacent layers are located on different sides of the seedling throwing system, or the seedling delivery openings (213) of the seedling delivery trays (21) of adjacent layers are located on the same side of the seedling throwing system and are staggered in the horizontal direction.

3. The seedling throwing system according to claim 1, characterized in that: There is an avoidance space below each of the seedling throwing modules (30), and the seedling delivery module (20) and the seedling throwing module (30) are both arranged to avoid the avoidance space.

4. The seedling throwing system according to claim 1, characterized in that: The seedling sending support surfaces (211) of the plurality of seedling sending trays (21) arranged at intervals in the vertical direction are parallel to each other.

5. The seedling throwing system according to any one of claims 1 to 4, characterized in that: The seedling delivery tray (21) is a rectangular seedling delivery tray (21); the seedling throwing system comprises four layers of seedling throwing mechanisms (100); the seedling delivery openings (213) of the four layers of seedling delivery trays (21) are respectively formed on four sides; and the seedling throwing modules (30) in the four layers of seedling throwing mechanisms (100) are respectively located on the four sides.

6. The seedling throwing system according to claim 5, characterized in that: The seedling throwing mechanism (100) of the first layer comprises a first seedling sending tray (2101), the seedling throwing mechanism (100) of the second layer comprises a second seedling sending tray (2102), the seedling throwing mechanism (100) of the third layer comprises a third seedling sending tray (2103), and the seedling throwing mechanism (100) of the second layer comprises a fourth seedling sending tray (2104); the seedling sending opening (213) of the first seedling sending tray (2101) is a first seedling sending opening (2131), the seedling sending opening (213) of the second seedling sending tray (2102) is a second seedling sending opening (2132), the seedling sending opening (213) of the third seedling sending tray (2103) is a third seedling sending opening (2133), and the seedling sending opening (213) of the fourth seedling sending tray (2104) is a fourth seedling sending opening (2134); The first seedling delivery opening (2131) and the third seedling delivery opening (2133) are located on opposite sides of the seedling throwing system in the x-axis direction, and the second seedling delivery opening (2132) and the fourth seedling delivery opening (2134) are located on opposite sides of the seedling throwing system in the y-axis direction; Alternatively, the first seedling delivery opening (2131) and the second seedling delivery opening (2132) are located on opposite sides of the seedling throwing system in the x-axis direction, and the third seedling delivery opening (2133) and the fourth seedling delivery opening (2134) are located on opposite sides of the seedling throwing system in the y-axis direction.

7. The seedling throwing system according to claim 6, characterized in that: The seedling delivery tray (21) is a rectangular seedling delivery tray (21), the seedling delivery tray (21) has a long side and a short side, and the seedling delivery opening (213) is formed on the short side of the seedling delivery tray (21).

8. The seedling throwing system according to any one of claims 1 to 4, characterized in that: Every two of the seedling throwing mechanisms (100) form a seedling throwing assembly; the seedling throwing system comprises two layers of seedling throwing assemblies arranged at intervals in the vertical direction; The first layer of the seedling throwing assembly comprises a first seedling sending tray (2101), a second seedling sending tray (2102), a first seedling throwing module (3101) and a second seedling throwing module (3102); the first seedling sending tray (2101) and the second seedling sending tray (2102) are arranged along the x direction, and the first seedling throwing module (3101) and the second seedling throwing module (3102) are arranged on opposite sides of the seedling throwing assembly in the x direction; The second layer of seedling throwing assembly includes a third seedling sending tray (2103), a fourth seedling sending tray (2104), a third seedling throwing module (3103) and a fourth seedling throwing module (3104); the third seedling sending tray (2103) and the fourth seedling throwing tray (2104) are arranged along the y direction, and the third seedling throwing module (3103) and the fourth seedling throwing module (3104) are arranged on opposite sides of the seedling throwing assembly in the y direction.

9. The seedling throwing system according to any one of claims 1 to 4, characterized in that: The seedling delivery tray (21) comprises a first tray body (214) and a second tray body (215) which are connected to each other; the seedling delivery support surface (211) is formed on the top surface of the first tray body (214); the second tray body (215) extends downward relative to the first tray body (214), the top surface of the second tray body (215) forms a seedling sliding surface (212), and the seedling delivery opening (213) is formed at the bottom end of the second tray body (215).

10. The seedling throwing system according to any one of claims 1 to 4, characterized in that: The seedling throwing module (30) comprises a first driver (31), a seedling throwing seat (32) and a seedling taker (33); one or more seedling takers (33) are installed on the seedling throwing seat (32), the first driver (31) is installed on the load module (10), and the first driver (31) is connected to the seedling throwing seat (32) to drive the seedling throwing seat (32) to rotate.

11. The seedling throwing system according to claim 10, characterized in that: The seedling throwing module (30) comprises a seedling supporting plate (50), the seedling supporting plate (50) being arranged beside the seedling delivery opening (213), the seedling supporting plate (50) being used for supporting the seedlings delivered from the seedling delivery opening (213); the seedling supporting plate (50) is provided with a seedling taking opening (51), and the first driver (31) is used for driving the seedling taking device (33) to rotate through the seedling taking opening (51).

12. The seedling throwing system according to claim 1, characterized in that: The seedling throwing mechanism (100) 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), the transverse driving device (60) is connected to the seedling delivery module (20), and the transverse driving device (60) is used to drive the seedling delivery module (20) to move transversely relative to the seedling throwing module (30); Alternatively, the seedling throwing module (30) is slidably mounted on the load module (10), the transverse driving device (60) is connected to the seedling throwing module (30), and the transverse driving device (60) is used to drive the seedling throwing module (30) to move transversely relative to the seedling delivery module (20).

13. A drone, characterized in that: include: Body (200); as well as, The seedling throwing system according to any one of claims 1 to 12; The load module (10) is connected to the fuselage (200).

14. A flying seedling throwing method, characterized in that: A drone used for mounting a seedling throwing system, the seedling throwing system comprising a plurality of seedling throwing mechanisms (100) arranged at intervals in a vertical direction, the seedling throwing mechanism (100) comprising a seedling delivery module (20) and a seedling throwing module (30); the flying seedling throwing method comprising: Controlling the drone to fly in a first direction, and controlling the seedling throwing module (30) in the seedling throwing system located laterally to the first direction of the seedling delivery module (20) to perform a seedling throwing task; The unmanned aerial vehicle is controlled to fly in a second direction, and the seedling throwing module (30) in the seedling throwing system, which is located laterally to the second direction of the seedling delivery module (20), is controlled to perform a seedling throwing task.

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