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

Abstract

The application discloses a seedling throwing system, an unmanned aerial vehicle and a flying seedling throwing method, and belongs to the field of agricultural technology. The seedling throwing system comprises a load module and a plurality of seedling throwing mechanisms. The seedling throwing mechanism comprises a seedling feeding module and a seedling throwing module. The seedling feeding module comprises a seedling feeding disc and a conveying assembly. The seedling feeding disc has a seedling feeding support surface, which is horizontal or substantially horizontal. One side of the seedling feeding disc is provided with a seedling feeding port. The seedling throwing module is arranged beside the seedling feeding port and is used for separating and throwing seedlings. The plurality of seedling throwing mechanisms are arranged at intervals in the vertical direction. The projection areas of the adjacent layers of seedling feeding discs in the horizontal plane of the seedling throwing system at least partially overlap. The unmanned aerial vehicle is provided with the aforementioned seedling throwing system. The seedling throwing system is suitable for being applied to an agricultural unmanned aerial vehicle, can simultaneously load a plurality of seedling feeding discs for operation, and improves the seedling throwing efficiency. The seedling feeding disc is horizontal, so that a plurality of sets of seedling throwing mechanisms can be arranged in layers, more seedlings can be loaded, and too much space is not occupied, and the layout is reasonable. The flying seedling throwing method has high seedling throwing efficiency.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment technology, and in particular to a rice seedling throwing system, a drone, and a method for rice seedling throwing by flight. Background Technology

[0002] In agricultural planting, some crops require seedling cultivation before planting. For mechanized seedling planting, related technologies rely on ground-based agricultural machinery for transplanting or throwing seedlings. However, this method requires reserved space on the ground for the machinery to travel, resulting in low space utilization due to site limitations. Some technologies also utilize drones equipped with seedling throwing systems, but the drone deployment is often inefficient. Summary of the Invention

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

[0004] The second objective of this invention is to provide a drone and a method for aerial rice transplanting, which can achieve aerial rice transplanting with minimal terrain limitations.

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

[0006] A rice seedling throwing system, comprising:

[0007] The payload module is used to connect to the drone;

[0008] Multiple seedling throwing mechanisms are respectively installed on the load module; each seedling throwing mechanism includes a seedling feeding module and a seedling throwing module; the seedling feeding module includes a seedling feeding tray and a conveying assembly, the seedling feeding tray has a seedling feeding support surface, the seedling feeding support surface is horizontally set or the inclination angle relative to the horizontal plane of the seedling throwing system is less than 20 degrees, one side of the seedling feeding tray has a seedling feeding port, and the conveying assembly is used to convey the seedlings supported by the seedling feeding tray to the seedling feeding port; the seedling throwing module is located next to the seedling feeding port, and the seedling throwing module is used to separate and throw out the seedlings;

[0009] The seedling throwing mechanisms are arranged at intervals along the vertical direction, and the projection areas of the seedling delivery trays of adjacent seedling throwing mechanisms onto the horizontal plane of the seedling throwing system at least partially overlap.

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

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

[0012] Optionally, each of the seedling throwing modules has a clearance space below it, and both the seedling delivery module and the seedling throwing module are set to avoid the clearance space.

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

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

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

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

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

[0018] Optionally, every two of the seed-throwing mechanisms constitute a seed-throwing assembly; the seed-throwing system includes two layers of seed-throwing assemblies arranged at intervals along the vertical direction;

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

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

[0021] Optionally, the seedling feeding tray includes a first tray body and a second tray body connected to each other; the seedling feeding 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 feeding port is formed at the bottom end of the second tray body.

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

[0023] Optionally, the seedling throwing module includes a seedling support plate, which is located next to the seedling delivery port and is used to support the seedlings delivered by the seedling delivery port; the seedling support plate is provided with a seedling picking opening, and the first driver is used to drive the seedling picker to rotate and pass through the seedling picking opening.

[0024] Optionally, the seedling throwing mechanism includes a lateral movement drive device, which is mounted on the load module;

[0025] The seedling delivery module is slidably mounted on the load module, and the lateral movement drive device is connected to the seedling delivery module. The lateral movement drive device is used to drive the seedling delivery module to move laterally relative to the seedling throwing module.

[0026] Alternatively, the seedling throwing module is slidably mounted on the load module, and the lateral movement drive device is connected to the seedling throwing module. The lateral movement drive 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] The rice transplanting system as described in any of the above schemes; the load module is connected to the machine body.

[0030] A method for aerial rice seedling throwing, applied to a drone equipped with a rice seedling throwing system, the rice seedling throwing system comprising multiple rice seedling throwing mechanisms spaced apart along a vertical direction, each rice seedling throwing mechanism comprising a seedling delivery module and a seedling throwing module; the aerial rice seedling throwing method includes:

[0031] Control the drone to fly along the first direction, and control the seedling throwing module located to the side of the seedling delivery module in the seedling throwing system to perform the seedling throwing task;

[0032] Control the drone to fly along the second direction, and control the seedling throwing module located on the side of the seedling delivery module in the seedling throwing system to perform the seedling throwing task.

[0033] The beneficial effects of this invention are as follows: This rice seedling throwing system is applicable to agricultural drones, and can simultaneously load multiple trays of seedlings for operation, improving the efficiency of seedling throwing; the horizontal delivery trays allow multiple seedling throwing mechanisms to be stacked, carrying more seedlings without occupying too much space, resulting in a reasonable layout. This aerial seedling throwing method has high seedling throwing efficiency. Attached Figure Description

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0035] Figure 1 This is a schematic diagram of a single rice-throwing mechanism in the unmanned aerial vehicle (UAV) rice-throwing system described in an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram showing two sets of seed-throwing mechanisms arranged at intervals along the vertical direction in the seed-throwing system of the drone described in this invention.

[0037] Figure 3 This is a schematic diagram of the drone described in an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the seedling delivery tray in the drone described in an embodiment of the present invention;

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

[0040] Figure 6 This is the second schematic diagram showing the cooperation between the seedling delivery module and the seedling throwing module in the seedling throwing mechanism of the UAV described in this embodiment of the invention;

[0041] Figure 7 This is a schematic diagram of a rice-throwing module used in the drone described in an embodiment of the present invention;

[0042] Figure 8 This is a schematic diagram of a conveying component of the seedling delivery module of the UAV according to an embodiment of the present invention;

[0043] Figure 9 This is a schematic diagram of the first layout of multiple rice-throwing mechanisms in the UAV according to an embodiment of the present invention;

[0044] Figure 10 This is a schematic diagram of a second layout of multiple rice-throwing mechanisms in the UAV described in an embodiment of the present invention;

[0045] Figure 11 This is a schematic diagram of a third layout of multiple rice-throwing mechanisms in the UAV described in an embodiment of the present invention;

[0046] Figure 12 This is a schematic diagram of the fourth layout of multiple rice-throwing mechanisms in the UAV described in this embodiment of the invention;

[0047] Figure 13 This is a side view of one of the fifth layout diagrams of multiple rice-throwing mechanisms in the UAV described in the embodiments of the present invention.

[0048] Figure 14 This is a second schematic diagram (top view) of the fifth layout of multiple rice-throwing mechanisms in the UAV described in this embodiment of the invention;

[0049] Figure 15 This is a schematic diagram of the first layer of a rice-throwing assembly in a sixth layout of multiple rice-throwing mechanisms in an unmanned aerial vehicle according to an embodiment of the present invention.

[0050] Figure 16 This is a schematic diagram of the second layer of a rice-throwing assembly in a sixth layout of multiple rice-throwing mechanisms in an unmanned aerial vehicle according to an embodiment of the present invention;

[0051] Figure 17 This is a top view of the sixth layout of multiple rice-throwing mechanisms in the UAV described in this embodiment of the invention;

[0052] Figure 18 This is a schematic diagram showing the distribution of the roll axis, pitch axis, and yaw axis of the UAV described in the embodiment of the present invention;

[0053] Figure 19 This is a schematic diagram of a drone flying and throwing rice seedlings along a first direction, as described in an embodiment of the present invention (L1 in the diagram is a reference line for the landing point of the thrown seedlings);

[0054] Figure 20 This is a schematic diagram of the UAV flying and throwing rice seedlings along the second direction according to an embodiment of the present invention (L2 in the figure is the reference line for the landing point of the thrown seedlings);

[0055] Figure 21 This is a schematic diagram of a seedling tray for potted seedlings in related technologies;

[0056] Figure 22 A three-dimensional schematic diagram of the tufted seedlings;

[0057] Figure 23 This is a side view of the seedling.

[0058] Figure 24 A schematic diagram of a *Phyllostachys edulis* seedling;

[0059] Figure 25 The seedling is a single seedling removed from a blanket of seedlings by the seedling harvester in an embodiment of the present invention.

[0060] In the diagram: 100, seedling throwing mechanism; 1001, horizontal plane of the seedling throwing system; 200, machine body; 310, load frame; 320, legs; 800, blanket-like seedling; 810, blanket base; 820, leaf; 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 inlet; 214. First tray body; 215. Second tray body; 22. Conveying assembly;

[0063] 2101, First seedling tray; 2102, Second seedling tray; 2103, Third seedling tray; 2104, Fourth seedling tray; 2131, First seedling inlet; 2132, Second seedling inlet; 2133, Third seedling inlet; 2134, Fourth seedling inlet;

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

[0065] 50. Seedling support board; 51. Seedling opening;

[0066] 60. Lateral movement drive device. Detailed Implementation

[0067] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0068] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected" and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0069] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0070] Currently available rice transplanters typically use tractors in the field to pull the transplanting system, which is costly, inefficient, and heavily restricted by terrain. Ground-based agricultural machinery is inconvenient to use in terraced fields and other special terrains. Some drones are equipped with rice-throwing systems, but their deployment is often inefficient.

[0071] This application provides a rice transplanting system and a drone, suitable for being mounted on a drone for rice transplanting. Compared to ground-based rice transplanting machinery, it can adapt to more terrains and has higher transplanting efficiency. The rice transplanting system includes multiple sets of transplanting mechanisms 100, which improves transplanting efficiency. Furthermore, the main body of the seed delivery tray 21 of the transplanter is horizontal or nearly horizontal. Based on this, multiple layers of seed delivery trays 21 can be arranged at intervals along the vertical direction, increasing the seedling capacity of the transplanting system while making the structure more compact and not occupying too much space, which is beneficial for mounting on a drone.

[0072] In related technologies, there are potted seedlings and matted seedlings. However, some equipment can only handle potted seedlings for transplanting and is not suitable for matted seedlings. This application is suitable for transplanting matted seedlings 800, which includes matted seedlings and perforated matted seedlings. Among them, potted seedlings are non-matted seedlings. Figure 21 The image shows a seedling tray with several evenly spaced grooves. Each groove has an opening at the top and contains one seedling. Each groove has a hole at the bottom. A needle is inserted into the groove through the hole at the bottom to push the seedling out for transplanting. However, this method of seedling cultivation is not widespread. Figure 22 , Figure 23 The diagram illustrates the structure of the blanket seedling. In blanket seedling breeding, the seedling consists of a bottom blanket base 810 and numerous seedling leaves 820 extending from the blanket base 810. The blanket base 810 includes soil and the roots of the seedlings, with the roots of the seedlings within the blanket base 810 interconnected. Farmers primarily use blanket seedlings for seedling cultivation. Figure 24The diagram illustrates the structural form of the perforated seedling. The difference between the perforated seedling and the mat seedling lies in the fact that the perforated seedling has a grid-like groove on the back of its mat base 810, forming a grid-like distribution of protrusions on the back of the mat base 810 through the crisscrossing grooves. In other words, the perforated seedling differs from the mat seedling in that its mat base 810 is pre-cut but not completely severed. In related technologies, no drone has been found capable of transplanting the mat seedling 800 (mat seedling or perforated seedling), thus failing to meet the needs of some situations requiring drone-based transplanting.

[0073] Please refer to Figures 1 to 20 The following describes a seedling throwing system and a drone provided in this application. For ease of description, this application uses the throwing of a blanket-like seedling 800 as an example. When using the seedling throwing mechanism 100 of this application to plant the blanket-like seedling 800, the seedling-taking device 33 needs to cut the blanket-like seedling 800 into multiple individual seedlings 830 (e.g., ...). Figure 25 (As shown).

[0074] The drone includes a fuselage 200 and a rice-throwing system. The fuselage 200 includes rotors. The rice-throwing system includes multiple rice-throwing mechanisms 100, each of which can independently perform rice-throwing operations. Multiple rice-throwing mechanisms 100 can be controlled to perform rice-throwing operations simultaneously or sequentially, thereby improving rice-throwing efficiency and achieving better operational results. It should be noted that in this application, "multiple" refers to two or more, and "multiple sets" refers to two or more sets.

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

[0076] The load module 10 is used to connect directly or indirectly to the drone body 200. The load modules 10 of multiple rice-throwing mechanisms 100 are connected to the drone body 200 after being connected, or the load modules 10 of multiple rice-throwing mechanisms 100 are connected to the drone body 200 respectively.

[0077] The seedling delivery module 20 is set on the load module 10. Figure 1 This illustration shows one 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 for supporting seedlings, and a seedling delivery opening 213 is formed on one side of the seedling delivery tray 21. The conveying assembly 22 is disposed on the seedling delivery tray 21 and is used to convey the blanket-shaped seedlings 800 to the seedling delivery opening 213.

[0078] The seedling throwing module 30 is located on the load module 10 and next to the seedling delivery port 213. Figures 1 to 8The diagram illustrates some configurations of the seedling throwing module 30. The seedling throwing module 30 is used to separate individual seedlings 830 from the blanket-like seedlings 800 on the seedling delivery module 20 and then throw them out using centrifugal force and / or ejection force. In this way, a drone can carry the seedling throwing mechanism 100 to perform seedling throwing operations. The blanket-like seedlings 800 are transported by the seedling delivery module 20, and the seedling throwing module 30 separates the blanket-like seedlings 800 and throws out the individual seedlings 830, thus achieving the aerial seedling throwing operation of the blanket-like seedlings 800.

[0079] The seedling throwing module 30 can separate seedlings in various ways (i.e., seedling retrieval methods), such as cutting, grabbing, pushing, pressing, digging, and pulling. The specific separation and retrieval methods are not limited. The seedling throwing module 30 can also throw the seedlings in multiple ways. In one embodiment, after separating the seedlings from the blanket-like seedlings 800, the seedling throwing module 30 can use centrifugal force to fling the seedlings out. In another embodiment, after separating the seedlings from the blanket-like seedlings 800, the seedling throwing module 30 can use a launching force to launch the separated seedlings (the seedling throwing module 30 can be equipped with a launching element that provides launching force). In yet another embodiment, the seedling throwing module 30 can utilize the combined action of centrifugal force and launching force to launch the separated seedlings.

[0080] Please continue to refer to Figures 1 to 4 , Figures 9 to 12 The seedling tray 21 is configured with its main parts at a horizontal or basic level, or the seedling tray 21 as a whole at a horizontal or basic level. (Refer to...) Figure 1 , Figure 3 , Figure 4 The seedling feeding support surface 211 is horizontal or basically horizontal, and the inclination angle of the seedling feeding support surface 211 relative to the horizontal plane 1001 of the seedling throwing system is 0 degrees to 20 degrees. Figure 4 In the diagram, S1 indicates the plane containing the seedling delivery support surface 211. The angle of inclination between the seedling delivery support surface 211 and the horizontal plane 1001 of the seedling throwing system is α. The seedling delivery support surface 211 has a small angle of inclination, making it easier for the basically horizontal seedling delivery tray 21 to deliver 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 frame of the UAV, the UAV's heading axis is perpendicular to the horizontal plane 1001 of the seedling throwing system.

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

[0082] The term "basic level" refers to the fact that the seedling delivery support surface 211 can be tilted at a small angle relative to the horizontal plane, for example, from 0.5 degrees to 20 degrees. It can be understood that the levelness of the seedling delivery support surface 211 can be detected by setting a level on the surface when the drone is stationed on a relatively flat ground.

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

[0084] Multiple seedling throwing mechanisms 100 are arranged at intervals along a vertical direction, which is the up-down direction of the seedling throwing system, indicated by the z-direction in the figure. Based on the horizontal or near-horizontal arrangement of the seedling delivery tray 21, the stacked arrangement of multiple seedling throwing mechanisms 100 along the vertical direction results in greater compactness and less space occupation, making it suitable for use in space-constrained drones. The spaced arrangement of multiple seedling throwing mechanisms 100 also increases the seedling load and seedling throwing efficiency.

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

[0086] To make the overall structure compact, the multiple seedling trays 21 are configured as follows: (Refer to...) Figure 2 , Figure 3 , Figures 9 to 14 , Figure 17 The projection areas of the seedling delivery trays 21 of adjacent seedling throwing mechanisms 100 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 obscures the area directly above the lower seedling delivery tray 21, so as to make full use of the vertical space of the drone and avoid occupying too much horizontal space.

[0087] To facilitate production and manufacturing, and to adapt to farmers' seedling raising habits, the seedling delivery trays 21 used in the seedling throwing mechanism 100 are basically the same in model and size.

[0088] The configuration of each 100-unit rice transplanting mechanism is described in more detail below.

[0089] During the drone's rice seedling throwing process, the seedlings on the seedling delivery tray 21 are transported from back to front. The seedling throwing module 30 first picks up and throws the first row of seedlings delivered by the seedling delivery tray 21. After the first row of seedlings is picked up, the seedlings on the seedling delivery tray 21 are then transported forward to the next row.

[0090] The seedling delivery module 20 includes a conveying component 22. A seedling delivery opening 213 is formed on one side of the seedling delivery tray 21 in the y-direction or x-direction. The conveying component 22 is used to convey seedlings from the seedling delivery support surface 211 to the seedling delivery opening 213 along the y-direction or x-direction. After the seedling delivery tray 21 is set horizontally or nearly horizontally, the conveying component 22 is configured to ensure that the nearly horizontally oriented seedlings can be continuously conveyed to the seedling delivery opening 213, allowing the seedling throwing module 30 to pick up seedlings row by row.

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

[0092] To facilitate seedling delivery, the front end of the seedling delivery tray 21 is tilted for easier seedling removal. (Refer to...) Figures 1 to 4 The seedling delivery tray 21 includes a first tray body 214 and a second tray body 215 connected to each other. The first tray body 214 is a flat tray, and a seedling delivery support surface 211 is formed on the top surface of the first tray body 214. The second tray body 215 extends downward; in other words, the second tray body 215 is angled to the first tray body 214. A seedling sliding surface 212 is formed on the top surface of the second tray body 215, and a seedling delivery port 213 is formed at the bottom end of the second tray body 215. The first tray body 214 is set horizontally or nearly horizontally, which can save the height space of the drone. Multiple seedling storage trays are set above the first tray body 214 of the seedling delivery tray 21 to replenish seedlings to the first tray body 214. The second tray 215 extends downwards. When the blanket-shaped seedlings 800 are conveyed close to the seedling delivery port 213, the front end of the blanket-shaped seedlings 800 can slide downwards towards the seedling delivery port 213 under the action of gravity, reducing the conveying power consumption of the conveying component 22 and making it easier to deliver the blanket-shaped seedlings 800 to the seedling delivery port 213 for the seedling throwing module 30 to pick up and throw the seedlings. In some embodiments, both the first tray 214 and the second tray 215 are provided with the conveying component 22. In some embodiments, only the first tray 214 is provided with the conveying component 22.

[0093] Reference Figures 1 to 4 The second disc 215 bends downwards to form an arc-shaped, curved seedling-sliding surface 212. The transition between the arc-shaped seedling-sliding surface 212, the seedling-feeding support surface 211, the seedling-sliding surface 212, and the seedling-feeding opening 213 is smooth, which helps to protect the blanket base 810 of the blanket seedling 800 from being scratched and prevents the blanket base 810 from becoming loose due to scratches. In other embodiments, the seedling-sliding surface 212 can also be flat.

[0094] In other embodiments, a flat plate can also be used as the seedling tray 21, that is, the downwardly extending second plate body 215 is not provided.

[0095] Reference Figure 1 , Figure 2 , Figure 5 , Figure 6 The seedling throwing module 30 includes a seedling picker 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 picker 33. The seedling picker 33 can be a seedling picker claw, a seedling picker blade, a seedling picker pin, a seedling picker top frame, etc., and different seedling pickers 33 are selected according to different seedling shapes. The seedling picking and throwing principle of the seedling picker 33 is as follows: the seedling picker 33 rotates under the drive of the first driver 31 to move along the working trajectory. The working trajectory can be circular or irregular curved (such as kidney-shaped). The seedling picker 33 can rotate or reciprocate. When the seedling picker 33 moves along the first stroke of the movement trajectory, it picks off a single seedling 830 from the blanket-shaped seedling 800 delivered from the seedling delivery port 213 by cutting or other means, thus separating the blanket-shaped seedling 800 delivered by the seedling delivery tray 21. When the seedling picker 33 moves along the second stroke of its trajectory, the seedlings on the seedling picker 33 are thrown out of the seedling picker 33 by centrifugal force and / or ejection force, thus realizing the unmanned aerial vehicle seedling throwing.

[0096] To improve the efficiency of seedling picking at a single location, the seedling throwing module 30 includes a seedling throwing seat 32 and multiple seedling pickers 33. A first driver 31 is connected to the seedling throwing seat 32 via a first rotating shaft. The first driver 31 drives the seedling throwing seat 32 to rotate around the axis of the first rotating shaft. The multiple seedling pickers 33 are spaced apart around the first rotating shaft in the seedling throwing module 30.

[0097] A seedling throwing module 30 may include multiple seedling pickers 33, which may be two, three, or four, etc. The seedling pickers 33 are evenly distributed around the seedling throwing base 32. For example, the angle from two seedling pickers 33 to the center of the turntable is 180 degrees, the interval between three seedling pickers 33 is 120 degrees, and the interval between four seedling pickers 33 is 90 degrees.

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

[0099] To facilitate the individual collection and throwing of seedlings from the outermost row of the blanket-like seedlings 800, the seedling throwing mechanism 100 also includes a seedling support plate 50. The seedling support plate 50 is located next to the seedling delivery port 213 and is used to support the blanket-like seedlings 800 delivered by the seedling delivery module 20. In practice, the seedling support plate 50 can be configured to support the outermost row of the blanket-like seedlings 800, i.e., the row to be collected. The seedling support plate 50 has a seedling collection opening 51. When the seedling throwing module 30 performs the seedling collection action, the seedling collector 33 passes through the seedling collection opening 51 to cut the blanket-like seedlings 800 supported by the seedling support plate 50, thereby separating and removing individual seedlings 830.

[0100] The seedling support plate 50 supports the first row of blanket-like seedlings 800 to be harvested, preventing the outermost blanket-like seedlings 800 from shaking and becoming difficult to separate. This ensures that when the seedling harvester 33 rotates through the harvesting opening 51, it cuts the supported blanket-like seedlings 800 that are only exposed within the harvesting opening 51, accurately cutting the target area and avoiding cutting the blanket-like seedlings 800 in non-target areas, thus separating individual seedlings 830. In other words, the seedling support plate 50 also improves the uniformity of the amount of seedlings harvested each time.

[0101] To achieve the separation and throwing of the 800 seedlings in clusters, the seedling delivery module 20 and the seedling throwing module 30 are configured to move relative to each other in the lateral direction, such as... Figure 5 , Figure 6 As shown, by moving the seedling feeding module 20 and the seedling throwing module 30 laterally relative to each other, the seedling throwing module 30 can pick up and throw seedlings from different areas on the seedling feeding module 20. To provide lateral movement force, the seedling throwing mechanism 100 includes a lateral movement drive mechanism, which is mounted on the load module 10.

[0102] In some embodiments, the seedling delivery module 20 is slidably mounted on the load module 10, and the lateral movement drive device 60 is connected to the seedling delivery module 20. The lateral movement drive device 60 is used to drive the seedling delivery module 20 to move laterally relative to the seedling throwing module 30. That is, when throwing seedlings, the seedling delivery module 20 moves laterally, while the seedling support plate 50 and the seedling throwing module 30 do not move laterally.

[0103] In other embodiments, the seedling throwing module 30 is slidably mounted on the load module 10, and the lateral movement drive device 60 is connected to the seedling throwing module 30. The lateral movement drive device 60 is used to drive the seedling throwing module 30 to move laterally relative to the seedling delivery module 20. That is, during seedling throwing, the seedling support plate 50 and the seedling throwing module 30 move laterally synchronously, while the seedling delivery module 20 does not move laterally.

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

[0105] To ensure successful seedling placement at each level of the seedling throwing mechanism, based on the vertically stacked seedling trays 21, refer to... Figures 9 to 18The projection areas of the seedling delivery ports 213 of two adjacent seedling delivery trays onto the horizontal plane 1001 of the seedling throwing system are staggered. By staggering the seedling delivery ports 213 of adjacent layers, in two close seedling throwing mechanisms 100, the lower seedling throwing module 30 can be prevented from obstructing the upper layer from throwing individual seedlings 830. In this way, based on the configuration of multiple seedling throwing mechanisms 100, reliable seedling throwing and landing are guaranteed. Adjacent seedling throwing mechanisms 100 throw and pick up seedlings from different sides, avoiding the lower seedling picking mechanism blocking the seedling picking and landing path of the upper seedling picking mechanism when picking up and throwing seedlings.

[0106] The adjacent layers of seedling delivery ports 213 are staggered. This can be achieved by having multiple layers of seedling delivery ports 213 located on the same side of the seedling throwing system, and by designing a horizontal interval between the seedling delivery ports 213 of the seedling delivery tray 21; or by placing multiple layers of seedling delivery ports 213 on different sides of the seedling throwing system.

[0107] The seedling inlets 213 of the multi-layer seedling feeding tray 21 are located on the same side of the seedling throwing system, that is, the seedling inlets 213 of the multi-layer seedling feeding tray 21 are located on the same side of its seedling throwing mechanism 100. For example... Figure 9 As shown, the seedling inlets 213 of the multi-layer seedling feeding tray 21 are all located on the front side of the seedling feeding tray 21. Correspondingly, the seedling throwing modules 30 of the multi-layer seedling throwing mechanism 100 are all located on the front side of the seedling feeding tray 21. Figure 9 Since the seedling inlets 213 of the multi-layer seedling feeding tray 21 are located on the same side, in order to stagger the seedling inlets 213 of adjacent layers, the multi-layer seedling feeding tray 21 can adopt a drawer-like design. The upper seedling feeding tray 21 is moved forward relative to the lower seedling feeding tray 21 by a certain position, so that the upper layer extends outward. In other words, the upper seedling inlet 213 is positioned forward relative to the lower seedling inlet 213, so that when the seedling inlets 213 of the seedling feeding tray 21 are located on the same side of the seedling throwing system, the seedling inlets 213 are staggered, so that when the seedlings thrown by the upper seedling throwing module 30 fall, they are not blocked by the lower seedling throwing module 30 as much as possible. When a seedling feeding tray 21 is configured as a rectangle, and the seedling outlet is configured on the long side of the rectangle (e.g. Figure 5 , Figure 6 As shown in the figure, the multi-layer rice-throwing mechanism 100 is configured in the manner of this embodiment, with a compact overall layout and smooth rice-throwing operation of each layer of rice-throwing mechanism 100.

[0108] The seedling inlets 213 of the multi-layer seedling feeding tray 21 can also be set on different sides of the seedling throwing system, that is, the seedling inlets 213 of the multi-layer seedling feeding tray 21 are set on different sides of the seedling throwing mechanism 100, and the different sides can be two sides, three sides, four sides, etc. For example Figure 10 , Figure 11 As shown, in the rice transplanting system, the seedling inlets 213 of the multi-layer seedling tray 21 are distributed on the left and right sides or the front and back sides. For example... Figures 12 to 14As shown, in the rice transplanting system, the seedling inlets 213 of the multi-layer seedling tray 21 are distributed on the front, rear, left, and right sides. Among them, Figure 12 , Figure 13 The seedling feeding port 213 of the seedling feeding tray 21 located on the top layer is not marked on the back.

[0109] Reference Figure 9 as well as Figure 10 The seedling throwing system includes multiple seedling trays 21. The seedling trays 21 are rectangular to accommodate the rectangular shape of the blanket-shaped seedlings 800. Based on this, the multiple seedling trays 21 are configured such that the long side extension direction and the short side extension direction of the multiple seedling trays 21 are consistent, that is, the multiple seedling trays 21 are all horizontally set, or the multiple seedling trays 21 are all horizontally set. Figure 9 The seedling inlets 213 of the multi-layer seedling tray 21 are located on the same side. The multi-layer seedling tray 21 is similar to a multi-layer drawer design to achieve staggered placement of the seedling inlets 213. Figure 10 The seedling delivery ports 213 of the seedling delivery trays 21 in adjacent layers are located on adjacent sides, and the multi-layer seedling throwing mechanism 100 adopts a pyramid-like arrangement. For example, Figure 10 The seedling feeding port 213 of the first layer seedling feeding tray 21 is located on the first side of the seedling throwing system, the seedling feeding port 213 of the second layer seedling feeding tray 21 is located on the second side of the seedling throwing system, the seedling feeding port 213 of the third layer seedling feeding tray 21 is located on the first side of the seedling throwing system, and the seedling feeding port 213 of the fourth layer seedling feeding tray 21 is located on the second side of the seedling throwing system. In order to avoid mutual interference between the seedling throwing mechanisms 100 of adjacent layers, the multi-layer seedling throwing mechanism 100 adopts a pyramid-shaped arrangement. The seedling throwing module 30 of the third layer is arranged outside the seedling throwing module 30 of the first layer, and the seedling throwing module 30 of the fourth layer is arranged outside the seedling throwing module 30 of the second layer, so as to achieve the staggered placement of the seedling feeding port 213 and the seedling throwing module 30.

[0110] Below each seedling throwing module 30 is a clearance space, such as... Figure 2 , Figure 3 , Figure 9 , Figure 10 , Figures 12 to 14 , Figure 17 As shown, the seedling delivery module 20 and seedling throwing module 30 located in the lower layer are both positioned to avoid obstructing the space. In this way, each seedling throwing module 30 occupies its own vertical space, and the area directly below each seedling throwing module 30 is not obstructed by other seedling throwing modules 30 or other seedling delivery trays 21, allowing the seedlings to fall reliably after being picked up by the seedling throwing module 30. It is understandable that there are no restrictions on the layout above each seedling throwing module 30.

[0111] Of course, in other embodiments, such as Figure 11As shown, the vertical space below each seedling throwing module 30 can also be used to arrange seedling throwing modules 30 or seedling delivery trays 21. This can be achieved by increasing the spacing between seedling throwing modules 30 located in the same vertical space (e.g., Figure 11 The method adopted is to use an alternating layer setting, or to control the seedling outlet position of the seedling throwing module 30 so that the falling trajectory of the single seedling 830 thrown by the upper seedling throwing module 30 does not interfere with the lower seedling throwing module 30 and the lower seedling delivery tray 21. Figure 11 The curved dashed line in the diagram is used to indicate the trajectory of the seedlings as they are thrown, but it is only for illustration purposes. The actual throwing trajectory may differ from the trajectory shown in the diagram.

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

[0113] The first-layer seedling throwing mechanism 100 includes a first seedling feeding tray 2101, the second-layer seedling throwing mechanism 100 includes a second seedling feeding tray 2102, the third-layer seedling throwing mechanism 100 includes a third seedling feeding tray 2103, and the fourth-layer seedling throwing mechanism 100 includes a fourth seedling feeding tray 2104; the seedling feeding port 213 of the first seedling feeding tray 2101 is the first seedling feeding port 2131, the seedling feeding port 213 of the second seedling feeding tray 2102 is the second seedling feeding port 2132, the seedling feeding port 213 of the third seedling feeding tray 2103 is the third seedling feeding port 2133, and the seedling feeding port 213 of the fourth seedling feeding tray 2104 is the fourth seedling feeding port 2134. The first-layer seedling throwing mechanism 100 has a seedling throwing module 30 of first-layer seedling throwing module 3101, the second-layer seedling throwing mechanism 100 has a seedling throwing module 30 of second-layer seedling throwing module 3102, the third-layer seedling throwing mechanism 100 has a seedling throwing module 30 of third-layer seedling throwing module 3103, and the fourth-layer seedling throwing mechanism 100 has a seedling throwing module 30 of fourth-layer 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 Figure 12 The first seedling feed inlet 2131 and the third seedling feed inlet 2133 are located on opposite sides of the x-axis of the seedling throwing system, and the second seedling feed inlet 2132 and the fourth seedling feed inlet 2134 are located on opposite sides of the y-axis of the seedling throwing system. Figure 12 The y-axis direction is perpendicular to the paper surface (inside and outside the paper). That is, the first layer is horizontal, the second layer is vertical, the third layer is horizontal, and the fourth layer is vertical.

[0115] Configuration Method 2: Refer to Figure 13 , Figure 14The first seedling feed inlet 2131 and the second seedling feed inlet 2132 are located on opposite sides of the x-axis of the seedling throwing system, and the third seedling feed inlet 2133 and the fourth seedling feed inlet 2134 are located on opposite sides of the y-axis of the seedling throwing system. Figure 13 The y-axis direction is perpendicular to the paper surface (inside and outside the paper). That is, the first and second layers are horizontal; the third and fourth layers are vertical.

[0116] The advantages of configuration method two compared to configuration method one are: the lower two layers and the upper two layers can be divided into two rounds of seedling picking; during the first round of seedling picking, the seedling feeding trays 21 of the first and second layers move laterally in the opposite direction, and during the second round of seedling picking, the seedling feeding trays 21 of the third and fourth layers move laterally in the opposite direction; in this way, during each round of seedling picking, the two seedling feeding trays 21 that need to move laterally at the same time are located on adjacent sides, the center of gravity of the seedling feeding trays 21 is close, and the change in the center of gravity is small during each round of seedling picking.

[0117] Reference Figure 14 The seedling feeding tray 21 is rectangular and has a long side and a short side. The seedling feeding opening 213 is formed on the short side of the seedling feeding tray 21. By using a rectangular seedling feeding tray 21, the seedling picking mechanism is positioned on the short side while adapting to the shape of the seedling tray. In the case of vertical stacking, this facilitates the staggering of the seedling picking mechanisms of adjacent layers.

[0118] Reference Figures 15 to 17 Each pair of seed-throwing mechanisms (100 units) forms a seed-throwing assembly. The seed-throwing system comprises two layers of seed-throwing assemblies arranged at intervals along the vertical direction.

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

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

[0121] Reference Figure 17After the two layers of seed-throwing components are stacked, seedlings can be thrown out from the front, back, left, and right sides of the seed-throwing system. The same layer of seed-throwing components is equipped with two sets of seed-throwing mechanisms 100, which can move laterally in opposite directions via the same layer of seed-feeding trays 21, thus balancing high-efficiency seed-throwing with drone flight stability. For example, by moving the first seed-feeding tray 2101 and the second seed-feeding tray 2102 laterally in opposite directions, the stationary first seed-throwing module 3101 and the second seed-throwing module 3102 can pick up and throw seedlings one by one laterally, improving seed-throwing efficiency. Furthermore, the opposite lateral movement of the two seed-feeding trays 21 in the same layer of seed-throwing components cancels out forces, reducing the impact on the drone's center of gravity, which helps maintain flight stability, prevents the drone from swaying or tilting, and ensures both seed-throwing effect and flight safety.

[0122] When the rice-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 rice-throwing mechanism 100. The load module 10 is mounted on the frame, which may include a load frame 310 and a footrest 320. When it is necessary to assemble or disassemble the rice-throwing mechanism 100, the load module 10 of the rice-throwing mechanism 100 can be assembled or disassembled with the drone frame.

[0124] In other embodiments, the drone includes a fuselage 200 and a rice-throwing mechanism 100. The load module 10 includes a load frame 310, a tripod 320, and other structures. When it is necessary to assemble or disassemble the rice-throwing mechanism 100, the load module 10 of the rice-throwing mechanism 100 can be assembled or disassembled with the drone fuselage 200.

[0125] In this embodiment, the drone is a rotary-wing drone, specifically a quadcopter drone. Of course, it could also be a single-rotor drone, a dual-rotor drone, a hexacopter drone, an octacopter drone, etc. The drone can operate automatically according to a preset path, flight speed, and attitude, or it can be manually controlled by an operator. For ease of description, the accompanying drawings show the forward, backward, left, right, up, and down directions, which are relative positional relationships that can be clearly understood by those skilled in the art when the drone is normally placed or in flight.

[0126] The figure shows a split-type rice-throwing mechanism 100. Specifically, the load module 10 of the rice-throwing mechanism 100 is detachably mounted on the lower part of the drone. That is, the drone and the rice-throwing mechanism 100 adopt a split-type design, with the drone serving as a mobile platform and the rice-throwing mechanism 100 being separate components. In other words, this type of rice-throwing mechanism 100 is an independent structure, not dependent on the drone's fuselage 200 frame. Based on this type, appropriate devices can be replaced according to actual operational needs in specific operational scenarios. For example, after disassembling the rice-throwing mechanism 100, a spreading device can be installed to spread pesticides, fertilizers, seeds, etc. Similarly, after disassembling the rice-throwing mechanism 100, agricultural operation mechanisms such as surveying devices and spraying devices can be installed.

[0127] This application also provides a method for aerial rice seedling throwing. This aerial rice seedling throwing method can be performed by a drone based on the structure of the aforementioned embodiments.

[0128] Reference Figure 19 , Figure 20 The aerial rice-throwing method is applied to a drone equipped with a rice-throwing system. The rice-throwing system includes multiple rice-throwing mechanisms 100 arranged at intervals along the vertical direction. Each rice-throwing mechanism 100 includes a rice-feeding module 20 and a rice-throwing module 30. The aerial rice-throwing method includes:

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

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

[0131] The rice-throwing system based on a drone has rice-throwing modules 30 arranged on one or both sides in a first direction and on one or both sides in a second direction. By changing the flight direction of the drone, the rice-throwing modules 30 on the corresponding sides can be used to throw rice seedlings. The drone-based rice-throwing system has high efficiency and good results.

[0132] In this embodiment, the first direction is either forward or backward; controlling the drone to fly along the first direction and controlling the seedling throwing module 30 located to the side 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 delivery module 20 in the seedling throwing system to perform the seedling throwing task, and / or control the seedling throwing module 30 located behind the seedling delivery module 20 in the seedling throwing system to perform the seedling throwing task;

[0134] The second direction is either left or right; controlling the drone to fly along the first direction, and controlling the seedling throwing module 30 located to the side of the seedling delivery 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 to the left of the seedling delivery module 20 in the seedling throwing system to perform the seedling throwing task, and / or control the seedling throwing module 30 located to the right of the seedling delivery module 20 in the seedling throwing system to perform the seedling throwing task.

[0136] In one embodiment, reference is made to Figure 19 , Figure 20 The drone includes four seed-throwing mechanisms 100, which are stacked on top of each other. Seed-throwing modules 30 are arranged on all four sides of the drone. This allows the drone to first fly in its forward / backward direction to control the forward and backward seed-throwing modules 30 to throw seedlings, and then fly in its preferred direction to control the left and right seed-throwing modules 30 to throw seedlings. Compared to when the drone flies forward / backward, where all four seed-throwing modules 30 on all four sides throw seedlings, this embodiment uses a forward / backward flight for forward / backward seedling throwing and a subsequent left / right flight for left / right seedling throwing. This allows for row-by-row seedling throwing in the farmland, resulting in better seedling throwing and meeting the requirements of seedling throwing operations.

[0137] In the description herein, it should be understood that the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0138] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0139] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0140] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A rice seedling throwing system, characterized in that, include: A load module (10) is used to connect to a drone; Multiple seedling throwing mechanisms (100) are respectively installed on the load module (10); each seedling throwing mechanism (100) includes a seedling delivery module (20) and a seedling throwing module (30); the seedling delivery module (20) includes a seedling delivery tray (21) and a conveying component (22), the seedling delivery tray (21) has a seedling delivery support surface (211), the seedling delivery support surface (211) is horizontally set or the inclination angle relative to the horizontal plane (1001) of the seedling throwing system is less than 20 degrees, one side of the seedling delivery tray (21) has a seedling delivery port (213), the conveying component (22) is used to convey the seedlings supported by the seedling delivery tray (21) to the seedling delivery port (213); the seedling throwing module (30) is located next to the seedling delivery port (213), the seedling throwing module (30) is used to separate and throw out the seedlings; The multiple 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) onto the horizontal plane (1001) of the seedling throwing system at least partially overlap.

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

3. The rice transplanting system according to claim 1, characterized in that, Below each of the seedling throwing modules (30) is a clearance space, and the seedling delivery module (20) and the seedling throwing module (30) are both set to avoid the clearance space.

4. The rice transplanting system according to claim 1, characterized in that, The seedling feeding support surfaces (211) of the multiple seedling feeding trays (21) arranged vertically at intervals are parallel to each other.

5. The rice transplanting system according to any one of claims 1-4, characterized in that, The seedling feeding tray (21) is a rectangular seedling feeding tray (21); the seedling throwing system includes four layers of seedling throwing mechanism (100), the seedling feeding port (213) of the four layers of seedling feeding tray (21) is formed on the four sides respectively, and the seedling throwing module (30) in the four layers of seedling throwing mechanism (100) is located on the four sides respectively.

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

7. The rice transplanting system according to claim 6, characterized in that, The seedling tray (21) is a rectangular seedling tray (21), which has a long side and a short side, and the seedling inlet (213) is formed on the short side of the seedling tray (21).

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

9. The rice transplanting system according to any one of claims 1-4, characterized in that, The seedling feeding tray (21) includes a first tray body (214) and a second tray body (215) connected to each other; the seedling feeding 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 feeding port (213) is formed at the bottom end of the second tray body (215).

10. The rice transplanting system according to any one of claims 1-4, characterized in that, The seedling throwing module (30) includes a first driver (31), a seedling throwing seat (32), and a seedling picker (33); one or more of the seedling pickers (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 rice transplanting system according to claim 10, characterized in that, The seedling throwing module (30) includes a seedling support plate (50), which is located next to the seedling delivery port (213). The seedling support plate (50) is used to support the seedlings delivered by the seedling delivery port (213). The seedling support plate (50) is provided with a seedling picking opening (51), and the first driver (31) is used to drive the seedling picker (33) to rotate and pass through the seedling picking opening (51).

12. The rice transplanting system according to claim 1, characterized in that, The seedling throwing mechanism (100) includes a lateral movement drive device (60), which is mounted on the load module (10); The seedling delivery module (20) is slidably installed on the load module (10), and the transverse drive device (60) is connected to the seedling delivery module (20). The transverse drive device (60) is used to drive the seedling delivery module (20) to move laterally relative to the seedling throwing module (30). Alternatively, the seedling throwing module (30) is slidably mounted on the load module (10), and the lateral movement drive device (60) is connected to the seedling throwing module (30). The lateral movement drive device (60) is used to drive the seedling throwing module (30) to move laterally relative to the seedling delivery module (20).

13. An unmanned aerial vehicle (UAV), characterized in that, include: fuselage (200); as well as, The rice transplanting system as described in any one of claims 1-12; The load module (10) is connected to the fuselage (200).

14. A method for aerial rice seedling throwing, characterized in that, An unmanned aerial vehicle (UAV) equipped with a rice-throwing system as described in any one of claims 1-12, the rice-throwing system comprising a plurality of rice-throwing mechanisms (100) spaced apart along a vertical direction, each rice-throwing mechanism (100) comprising a rice-feeding module (20) and a rice-throwing module (30); the flight rice-throwing method comprising: Control the drone to fly along the first direction, and control the seedling throwing module (30) located on the side of the seedling delivery module (20) in the seedling throwing system to perform the seedling throwing task; Control the drone to fly along the second direction, and control the seedling throwing module (30) located on the side of the seedling delivery module (20) in the seedling throwing system to perform the seedling throwing task.

Images