Flying seedling throwing system control method, storage medium and flying seedling throwing system

Abstract

The invention provides a flying seedling slinging system control method, a storage medium and a flying seedling slinging system.The flying seedling slinging system comprises a first seedling slinging mechanism and a second seedling slinging mechanism, the first seedling slinging mechanism and the second seedling slinging mechanism have the front-back position relation in the flying direction, the first seedling slinging mechanism comprises a first seedling taking module, and the second seedling slinging mechanism comprises a second seedling taking module; the first seedling throwing mechanism comprises a first seedling taking module, the second seedling throwing mechanism comprises a second seedling taking module, the first seedling taking module and the second seedling taking module are used for seedling throwing operation of the same seedling row, and the flying seedling throwing system control method comprises the step of controlling the first seedling throwing mechanism and the second seedling throwing mechanism to conduct seedling throwing operation. By controlling the first seedling throwing mechanism and the second seedling throwing mechanism to have the seedling throwing time difference, under the condition that the seedling throwing operation efficiency is improved, the landing plant spacing corresponding to the first seedling throwing mechanism and the second seedling throwing mechanism can be consistent with the target plant spacing, and the operation normalization is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of mechanical equipment, and in particular to a flying seedling throwing system control method, a storage medium and a flying seedling throwing system. Background Art

[0002] Smart agriculture is a hot development area. Agricultural machinery with various functions and uses is being launched one after another, helping to achieve mechanized and intelligent operations, reduce the difficulty of agricultural production, and increase agricultural output. Agricultural machinery and equipment include rotary tillers, rice transplanters, harvesters, sprayers, and rice seedling transplanters.

[0003] Among them, the flying seedling throwing system, as a type of seedling throwing machine, can perform aerial operations regardless of terrain, completing the seedling throwing task quickly and efficiently, and has attracted the attention of technicians in this field. At the same time, technicians in this field have also begun to pay attention to how to control the flying seedling throwing system to improve the standardization of its operation. Summary of the Invention

[0004] The purpose of this application is to provide a flying seedling throwing system control method, storage medium and flying seedling throwing system to at least partially improve the above-mentioned problems.

[0005] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0006] In the first aspect, an embodiment of the present application provides a method for controlling a flying seedling throwing system, wherein the flying seedling throwing system includes a first seedling throwing mechanism and a second seedling throwing mechanism, wherein the first seedling throwing mechanism and the second seedling throwing mechanism have a front-to-back positional relationship in the flight direction, the first seedling throwing mechanism includes a first seedling picking module, and the second seedling throwing mechanism includes a second seedling picking module, the first seedling picking module and the second seedling picking module are used for seedling throwing operations in the same row of seedlings, and the method includes: controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operations, wherein there is a seedling throwing time difference between the first seedling throwing mechanism and the second seedling throwing mechanism, so that the landing spacing corresponding to the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with the target spacing.

[0007] In the present application, by controlling the time difference between the first and second seedling throwing mechanisms, the efficiency of the seedling throwing operation can be improved, and the landing spacing corresponding to the first and second seedling throwing mechanisms can be made consistent with the target spacing, thereby ensuring the standardization of the operation.

[0008] Optionally, controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operations includes: controlling the first seedling taking module and the second seedling taking module to rotate according to a target rotation speed, and controlling the rotation angle difference between the first seedling taking module and the second seedling taking module to be the same as the target angle difference, and the target angle difference is determined based on the seedling throwing time difference.

[0009] In the present application, by controlling the rotation angle difference between the first seedling picking module and the second seedling picking module to be the same as the target angle difference, during the seedling throwing operation, there is a seedling throwing time difference between the first seedling throwing mechanism and the second seedling throwing mechanism, so that the landing plant spacing corresponding to the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with the target plant spacing.

[0010] Optionally, the target angle difference is the angle rotated over a time length corresponding to the seedling throwing time difference at the target rotation speed, thereby ensuring that the spacing between any two adjacent seedlings in the same row is consistent and is the required target spacing.

[0011] Optionally, controlling the first and second seedling throwing mechanisms to perform the seedling throwing operation includes: determining a seedling throwing time difference between the first and second seedling throwing mechanisms based on the synchronous landing spacing, the target spacing, and the target flight speed; wherein the synchronous landing spacing represents the distance between the seedlings after the first and second seedling throwing mechanisms perform synchronous throwing; and controlling the first and second seedling throwing mechanisms to perform the seedling throwing operation according to the seedling throwing time difference, thereby ensuring that the spacing between any two adjacent seedlings in the same row is consistent and meets the desired target spacing.

[0012] Optionally, obtaining the seedling throwing time difference between the first and second seedling throwing mechanisms based on the synchronous landing plant spacing, the target plant spacing, and the target flight speed includes: obtaining the distance difference between the synchronous landing plant spacing and the target plant spacing; and determining the seedling throwing time difference between the first and second seedling throwing mechanisms based on the distance difference and the target flight speed. Accurately obtaining the seedling throwing time difference ensures that the plant spacing between any two adjacent seedlings in the same row is consistent and meets the required target plant spacing.

[0013] Optionally, the method further includes: determining the synchronous landing plant spacing based on the target flight speed and target altitude.

[0014] In the present application, the synchronous landing spacing has a great influence on the accurate acquisition of the time difference of transplanting, and the accuracy of the synchronous landing spacing will affect whether the transplanting spacing is consistent. Based on the target flight speed and target height, the synchronous landing spacing is accurately obtained.

[0015] Optionally, determining the synchronous landing plant spacing based on the target flight speed and the target height includes: matching the target flight speed and the target height in a mapping relationship table to determine the synchronous landing plant spacing; wherein the mapping relationship table contains a mapping relationship between the combination of the target flight speed and the target height and the synchronous landing plant spacing.

[0016] In this application scheme, the synchronous landing plant spacing is determined by looking up a table. While accurately obtaining the synchronous landing plant spacing, the calculation process is simplified as much as possible to improve processing efficiency.

[0017] Optionally, the first seedling throwing mechanism is arranged before the second seedling throwing mechanism; and the first and second seedling throwing mechanisms are controlled to perform seedling throwing operations according to the seedling throwing time difference, including: when the synchronously landed plant spacing is greater than the target plant spacing, the second seedling throwing mechanism performs seedling throwing after the first seedling throwing mechanism has cast the seedlings, but with a delay corresponding to the seedling throwing time difference. When the synchronously landed plant spacing is less than the target plant spacing, the first seedling throwing mechanism performs seedling throwing after the second seedling throwing mechanism has cast the seedlings, but with a delay corresponding to the seedling throwing time difference, thereby further ensuring the consistency and uniformity of the plant spacing.

[0018] Optionally, the first seedling removing module and the second seedling removing module both include a driving source and a cutter head, and the driving source is connected to the cutter head to drive the cutter head to separate the seedlings on the seedling delivery module during rotation and throw out the separated seedlings.

[0019] Optionally, the landing spacing corresponding to two adjacent seedling throwings by the first seedling throwing mechanism is equal to the landing spacing corresponding to two adjacent seedling throwings by the second seedling throwing mechanism, which is twice the target spacing.

[0020] Optionally, the flying seedling throwing system maintains a target flight speed and flies at a target altitude along the flight direction.

[0021] In a second aspect, an embodiment of the present application provides a flying seedling throwing system, comprising:

[0022] A load module, the load module being configured to be mounted on the drone;

[0023] a first seedling throwing mechanism and a second seedling throwing mechanism, wherein the first seedling throwing mechanism and the second seedling throwing mechanism are both arranged on the load module and have a front-to-back positional relationship in the flight direction, the first seedling throwing mechanism includes a first seedling sending module and a first seedling taking module, and the second seedling throwing mechanism includes a second seedling sending module and a second seedling taking module, the first seedling sending module and the second seedling sending module are used to transport the seedlings in a blanket, and the first seedling taking module and the second seedling taking module are used to separate the seedlings from the seedling blanket and throw them out, and are used for seedling throwing operations in the same seedling row;

[0024] A control module is communicatively connected with the first seedling throwing mechanism and the second seedling throwing mechanism, and the control module is used to control the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operations, and there is a seedling throwing time difference between the first seedling throwing mechanism and the second seedling throwing mechanism, so that the landing spacing corresponding to the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with the target spacing.

[0025] Optionally, the control module is also used to execute the flying seedling throwing system control method described in any one of the first aspects above.

[0026] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned method when executed by a processor.

[0027] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 This is one of the structural diagrams of the flying seedling throwing system provided in an embodiment of the present application;

[0030] Figure 2 A structural diagram of the seedling throwing mechanism provided in an embodiment of the present application from a first perspective;

[0031] Figure 3 A structural diagram of the seedling throwing mechanism provided in an embodiment of the present application from a second perspective;

[0032] FIG4( a ) is a side view of a flying seedling throwing system with a single seedling throwing mechanism according to an embodiment of the present application;

[0033] FIG4( b ) is an axonometric diagram of a flying seedling throwing system with a single seedling throwing mechanism provided in an embodiment of the present application;

[0034] FIG4( c ) is a schematic top view of a flying seedling throwing system with a single seedling throwing mechanism provided in an embodiment of the present application;

[0035] FIG5( a ) is a side view of a flying seedling throwing system with a double seedling throwing mechanism provided in an embodiment of the present application;

[0036] FIG5( b ) is an axonometric diagram of a flying seedling throwing system with a double seedling throwing mechanism provided in an embodiment of the present application;

[0037] FIG5( c ) is a schematic top view of a flying seedling throwing system with a double seedling throwing mechanism provided in an embodiment of the present application;

[0038] Figure 6 This is a schematic diagram of the seedling throwing trajectory of the flying seedling throwing system of the double seedling throwing mechanism provided in an embodiment of the present application;

[0039] Figure 7 The second schematic diagram of the seedling throwing trajectory of the flying seedling throwing system of the double seedling throwing mechanism provided in the embodiment of the present application;

[0040] Figure 8 Provided in the embodiments of this application Figure 7 Schematic diagram of the ground effect corresponding to the rice seedling throwing trajectory shown;

[0041] Figure 9 A flow chart of a flying seedling throwing system control method provided in an embodiment of the present application;

[0042] Figure 10 A schematic diagram of a synchronous plant spacing provided in an embodiment of the present application;

[0043] Figure 11 An illustration of a hysteresis distance provided in an embodiment of the present application;

[0044] Figure 12 The third schematic diagram of the seedling throwing trajectory of the flying seedling throwing system of the double seedling throwing mechanism provided in the embodiment of the present application;

[0045] Figure 13 Provided in the embodiments of this application Figure 12 Schematic diagram of the ground effect corresponding to the rice seedling throwing trajectory shown.

[0046] In the figure: 1000-flying seedling throwing system; 100-seedling throwing mechanism; 20-seedling delivery module; 30-seedling retrieval module; 31-driving source; 32-transmission box; 33-cutter head; 200-drone; 300-blanket seedling; 310-seedling; 400-load module. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0049] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, or electrical connections; direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0050] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0051] Please refer to Figure 1 and Figure 2 , Figure 1 This is one of the structural diagrams of the flying seedling throwing system provided in the embodiment of the present application. Figure 2 This is a structural diagram of the first perspective of the seedling throwing mechanism provided in an embodiment of the present application. This embodiment provides a seedling throwing mechanism 100 and a flying seedling throwing system 1000. Specifically, the flying seedling throwing system 1000 includes an aircraft (such as a drone 200, which will be described below using the drone 200 as an example), a load module 400, and at least one set of seedling throwing mechanisms 100, the seedling throwing mechanisms 100 being arranged on the load module 400, and the load module 400 being carried (or arranged) on the drone 200. The seedling throwing mechanism 100 is used to separate the blanket seedlings 300, and the separated seedlings 310 are thrown out by centrifugal force and / or ejection force to realize the seedling throwing operation. At the same time, in conjunction with the flight of the drone 200, the flying seedling throwing operation is realized.

[0052] The seedling throwing mechanism 100 can throw the rice seedlings 310 in a variety of ways. In one embodiment, after the seedling throwing mechanism 100 separates the rice seedlings 310 from the seedling blanket 300, the rice seedlings 310 can be thrown out by centrifugal force. In one embodiment, after the seedling throwing mechanism 100 separates the rice seedlings 310 from the seedling blanket 300, the separated rice seedlings 310 can be ejected by an ejection force (the seedling throwing mechanism 100 can be provided with an ejection member that can provide the ejection force). In one embodiment, the seedling throwing mechanism 100 can utilize the combined action of centrifugal force and ejection force to throw the separated rice seedlings 310.

[0053] The seedling throwing mechanism 100 includes a seedling delivery module 20 and a seedling retrieval module 30. The seedling delivery module 20 is provided on the load module 400 and is used to transport the seedling blanket 300. The seedling retrieval module 30 is provided on the load module 400 and is used to separate the seedlings 310 from the seedling blanket 300 on the seedling delivery module 20 and then throw them out using centrifugal force and / or catapult force. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation, with the seedling delivery module 20 transporting the seedling blanket 300, and the seedling retrieval module 30 separating the seedling blanket 300 and then throwing the seedlings 310, thereby realizing the flying seedling throwing operation of the seedling blanket 300.

[0054] It should be noted that there are many ways to separate, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling removal methods are not limited.

[0055] In this embodiment, the drone 200 is a rotary-wing drone, specifically a quad-rotor drone. Of course, it can also be a single-rotor drone, a dual-rotor drone, a hexacopter drone, an octo-rotor drone, etc. The drone 200 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 illustrate directions such as forward, backward, left, right, up, and down. These directions are relative positions of the drone 200 when it is normally placed or in flight, which are clearly understood by those skilled in the art.

[0056] Figure 1 What is shown is a split flying seedling throwing system 1000. Specifically, the load module 400 of the seedling throwing mechanism 100 can be detachably mounted on the lower part of the drone 200. That is, the drone 200 and the seedling throwing mechanism 100 adopt an upper and lower split design. The drone 200 serves as a mobile platform and is a separate design from 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 frame of the drone 200. Based on this type, in specific operation scenarios, the corresponding device can be replaced according to actual operation needs. For example, after the seedling throwing mechanism 100 is disassembled, a sowing device can be installed to achieve the sowing of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled and then agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0057] Please refer to Figure 2 and Figure 3 , Figure 3 This is a structural diagram of the seedling throwing mechanism provided in an embodiment of the present application from a second perspective. The various modules of the seedling throwing mechanism 100 will be described in detail below.

[0058] Specifically, the seedling removing module 30 includes a driving source 31 and a cutter head 33. The driving source 31 is connected to the cutter head 33 and is used to drive the cutter head 33 to separate the seedlings 300 on the seedling delivering module 20 during rotation, and to throw out the separated seedlings 310, for example, by centrifugal force and / or ejection force.

[0059] Generally, the driving source 31 is a motor, which drives the cutter head 33 along Figure 3 The blade head 33 rotates in the direction indicated by the arrow A, thereby separating the seedlings 300 while contacting them. The separated seedlings 310 rotate along the direction of the arrow A with the blade head 33. When the blade head 33 rotates to a specific position, the seedlings 310 are ejected under the action of centrifugal force and / or ejection force. The blade head 33 may be provided with an ejection member that can store and release energy via a cam member during the blade head rotation. When the ejection member releases energy, the seedlings 310 are ejected under the ejection force provided by the ejection member.

[0060] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the drive source 31, with the drive source 31 directly driving the cutter head 33 to rotate. Alternatively, the cutter head 33 can be rotatably mounted on the load module 400, with the drive source 31 mounted on the load module 400 and connected to the cutter head 33 via a transmission mechanism, such as a gearbox, connecting rod mechanism, sprocket mechanism, or pulley mechanism, to provide driving force. Of course, the drive source 31 can also be other than a motor, for example, a pneumatic motor, a gasoline engine, etc.

[0061] To facilitate the ejection of the rice seedlings 310, in this embodiment, the cutter head 33 includes a mounting portion and a cutter body disposed on the mounting portion. The mounting portion is connected to the drive source 31. The cutter body is formed with a notch. The notch is used to hold the rice seedlings 310 after the cutter body separates the rice seedlings 310, causing the rice seedlings 310 to rotate and be ejected under the action of centrifugal force and / or ejection force. It is understandable that during the specific operation, the notch on the cutter body will hold the soil at the root of the rice seedlings 310, and then drive it to rotate during the rotation process, thereby ejecting it. Of course, the specific structure of the cutter head 33 can also be selected as a rice seedling needle.

[0062] Combine Figure 2 and Figure 3 In this embodiment, the seedling removal module 30 further includes a transmission box 32. A drive source 31 is connected to the transmission box 32 and is used to drive the transmission box 32 to rotate. Each transmission box 32 is provided with at least one cutter head 33. The transmission box 32 can impart a specific motion trajectory to the cutter head 33. Generally, the transmission box 32 can be provided with multiple intermeshing gears. The drive source 31 meshes with a gear in the transmission box 32, and the cutter head 33 meshes with another gear. The transmission box 32 can ensure that the motion trajectory of the cutter head 33 and the posture of the cutter head 33 during motion meet the requirements.

[0063] In this embodiment, two cutter heads 33 are distributed on one transmission box 32. Of course, in other embodiments, only one cutter head 33 may be distributed, or three, four, or more cutter heads 33 may be distributed. When two cutter heads 33 are distributed on one transmission box 32, the two cutter heads 33 can be distributed at an angle of 180 degrees to the center of the transmission box 32. Three cutter heads 33 can be spaced 120 degrees apart, and four cutter heads 33 can be spaced 90 degrees apart. In other words, the cutter heads 33 can be arranged in a uniform distribution. Of course, it is not ruled out that the cutter heads 33 can be arranged in an uneven distribution in certain scenarios. By designing a larger number of cutter heads 33 on the transmission box 32, the efficiency of removing seedlings can be improved under the same rotation speed.

[0064] On the other hand, the efficiency of the seedling throwing operation can be improved by increasing the number of the seedling sending modules 20. Figure 3 In this embodiment, there are multiple seedling delivery modules 20 , and there are multiple seedling removal modules 30 , which correspond one to one with the multiple seedling delivery modules 20 .

[0065] Specifically, Figure 3 In the figure, the number of seedling delivery modules 20 is three, and correspondingly, the number of seedling retrieval modules 30 is also three. Of course, when the number of seedling delivery modules 20 is greater than three, the number of seedling retrieval modules 30 can also be increased accordingly. Generally, the seedlings 310 transported by multiple seedling delivery modules 20 are the same kind of seedlings 310, and the seedling throwing operation is carried out in the same farmland. Therefore, the multiple seedling retrieval modules 30 can be controlled to operate synchronously by a control device provided on the load module 400, or can be controlled by the flight control of the UAV 200. Of course, it is not ruled out that multiple seedling delivery modules 20 operate independently, for example, the seedling retrieval efficiencies of the multiple seedling retrieval modules 30 are controlled to be unequal, or some of the seedling retrieval modules 30 are controlled to work while the remaining seedling retrieval modules 30 do not work.

[0066] Figure 1-Figure 3 The illustrated embodiment demonstrates the main structure of the seedling throwing mechanism 100 provided by the present invention. In addition, the multiple modules mentioned in this application (load module 400, seedling delivery module 20, seedling retrieval module 30, etc.) can be manufactured and sold separately in the early stage, and then assembled to form an integral structure in the later stage.

[0067] According to a flying seedling throwing system 1000 provided in this embodiment, the operating principle of the flying seedling throwing system 1000 is as follows: when the drone 200 is in flight, the driving source 31 drives the transmission box 32 to rotate, which drives the cutter head 33 to achieve high-speed rotation. When the cutter head 33 rotates to the opening, it separates and removes the rice seedlings 310, driving the rice seedlings 310 to rotate. When the rice seedlings 310 rotate to a certain angle, the rice seedlings 310 are thrown into the field under the action of centrifugal force and / or catapult force, thereby achieving flying and throwing of the rice seedling blanket 300. At the same time, the rice seedling delivery module 20 moves horizontally, driving the rice seedling blanket 300 to move left and right, so that the rice seedling blanket 300 is separated and thrown row by row and bunch by bunch. After a row of rice seedlings 310 in the left and right directions of the rice seedling blanket 300 is separated, the entire rice seedling blanket 300 moves downward under the action of gravity and the driving force of the conveying device. In this way, when the rice seedling delivery module 20 moves horizontally again, the rice seedlings are separated and thrown row by row and bunch by bunch by the rice seedling removal module 30. And so on, reciprocating cycle, until all blanket seedlings 300 are separated and thrown.

[0068] Figure 1-Figure 3 The flying seedling throwing system shown in FIG. 1 includes a drone 200 and a set of seedling throwing mechanisms 100. Referring to FIG. 4( a ), FIG. 4( b ), and FIG. 4( c ), FIG. 4( a ) is a side view schematic diagram of a flying seedling throwing system with a single seedling throwing mechanism provided in an embodiment of the present application; FIG. 4( b ) is an axonometric schematic diagram of a flying seedling throwing system with a single seedling throwing mechanism provided in an embodiment of the present application;

[0069] Figure 4(c) is a top view of a flying seedling throwing system with a single seedling throwing mechanism provided in an embodiment of the present application. L1 in Figure 4(c) represents the distance between adjacent rows of seedling picking modules, also known as the row spacing of the operation.

[0070] When the flying seedling throwing system of the single-throwing mechanism is in operation, based on a given flight altitude and flight speed, in the absence of wind or in a stable ambient wind, the rotation speed of the seedling picking module 30 remains unchanged, so that the spacing between the seedlings thrown down can be made consistent. However, the problem with the flying seedling throwing system of the single-throwing mechanism is that the upper limit of the rotation speed of the seedling picking module 30 limits the efficiency of the operation. For example, the maximum rotation speed of the seedling picking module 30 of the flying seedling throwing system of the single-throwing mechanism is 3600rpm. At this maximum rotation speed, to achieve a spacing of 20cm, the flight speed can only be 4m / s (the data is only an example and does not constitute a limitation). If the efficiency of the flying seedling throwing system of the single-throwing mechanism is to be further improved, the seedling throwing width of the same aircraft cannot be increased indefinitely (that is, the number of seedling delivery modules 20 and seedling picking modules 30 cannot be increased horizontally, as shown in Figure 4 (b) where there are 3 seedling delivery modules 20 and 3 corresponding seedling picking modules 30 horizontally), there will be an upper limit. In order to improve the operating efficiency, the embodiment of the present application proposes a flying seedling throwing system. Specifically, the flying seedling throwing system includes a drone 200 and two groups of seedling throwing mechanisms 100. Please refer to Figures 5(a), 5(b) and 5(c). Figure 5(a) is a side view schematic diagram of a flying seedling throwing system with a double-throwing mechanism provided in an embodiment of the present application; Figure 5(b) is an axonometric schematic diagram of a flying seedling throwing system with a double-throwing mechanism provided in an embodiment of the present application; Figure 5(c) is a top view schematic diagram of a flying seedling throwing system with a double-throwing mechanism provided in an embodiment of the present application.

[0071] Figures 5(a), 5(b) and 5(c) show another embodiment of the flying seedling throwing system 1000, wherein the description of the same modules, mechanisms or components can refer to the above text. In this embodiment, the flying seedling throwing system 1000 has two sets of seedling throwing mechanisms 100 (respectively, a first seedling throwing mechanism and a second seedling throwing mechanism), and the two seedling throwing mechanisms 100 share a load module 400. The two sets of seedling throwing mechanisms 100 are arranged back to back, that is, one set is flipped 180° and arranged on the opposite side, that is, it overlaps with the other set. Of course, in other embodiments, the two sets of seedling throwing mechanisms can also adopt other arrangements (for example, arranged in the same direction), or three, four or more sets of seedling throwing mechanisms 100 can be arranged.

[0072] Optionally, the first seedling throwing mechanism and the second seedling throwing mechanism are both arranged on the load module 400, and have a front-to-back positional relationship in the flight direction. The first seedling throwing mechanism includes a first seedling delivering module and a first seedling picking module, and the second seedling throwing mechanism includes a second seedling delivering module and a second seedling picking module. The first seedling delivering module and the second seedling delivering module are used to transport the seedlings, and the first seedling picking module and the second seedling picking module are used to separate the seedlings from the seedlings and throw them out, and are used for seedling throwing operations in the same seedling row.

[0073] It should be noted that the first seedling removing module and the second seedling removing module both include a driving source 31 and a cutter head 33 , and the description of the corresponding components can be found in the above text.

[0074] Optionally, the flying seedling throwing system 1000 may also include a third seedling throwing mechanism, which has a front-to-back positional relationship with the first seedling throwing mechanism or the second seedling throwing mechanism in the flight direction. For example, the first seedling throwing mechanism is in the front, the second seedling throwing mechanism is in the middle, and the third seedling throwing mechanism is in the back. The three seedling throwing mechanisms can be arranged in the same direction (that is, not the back-to-back arrangement described above). Each seedling throwing mechanism includes a corresponding seedling delivery module and a seedling retrieval module, which can cooperate to perform seedling throwing operations on the same seedling row. No further details will be given here.

[0075] It should be noted that when the first seedling throwing mechanism is provided with only one set of first seedling sending modules and one set of first seedling taking modules, the second seedling throwing mechanism is provided with only one set of second seedling sending modules and one set of second seedling taking modules, and the first seedling taking modules and the second seedling taking modules are arranged front and back in the flight direction. When the first seedling throwing mechanism is provided with N sets of first seedling sending modules and N sets of first seedling taking modules, and the second seedling throwing mechanism is provided with N sets of second seedling sending modules and N sets of second seedling taking modules, for example Figure 3 As shown, N is 3, the first seedling taking module is located in the kth row in the first seedling throwing mechanism, and the second seedling taking module is located in the kth row in the second seedling throwing mechanism, that is, the first seedling taking module and the second seedling taking module are 2 corresponding to each other in a row, that is, the seedling throwing trajectory of the first seedling taking module and the seedling throwing trajectory of the second seedling taking module are in the same vertical plane.

[0076] Optionally, because the flying seedling throwing system of the double-throwing mechanism is jointly responsible for one row by the front and rear two seedling picking modules 30, the flying speed can be increased by 1 times at the same rotation speed of the seedling picking module 30. For example, the maximum rotation speed of the seedling picking module 30 of the flying seedling throwing system of the double-throwing mechanism is 3600rpm. At this maximum rotation speed, to achieve a plant spacing of 20cm, the flying speed can reach 8m / s. Figure 3 The three groups shown can simultaneously broadcast three rows of seedlings, covering a width of three rows. The efficiency of the dual-boost flying broadcast system is double that of the single-boost flying broadcast system per unit time. However, this can lead to problems: the dual-boost flying broadcast system may not achieve the desired 20cm spacing, or may only partially achieve it, resulting in inconsistent plant spacing. This inconsistent spacing results in uneven broadcasting, which can affect the final yield.

[0077] Specifically, please refer to Figure 6 , Figure 6 This is one of the schematic diagrams of the seedling throwing trajectory of the flying seedling throwing system of the double seedling throwing mechanism provided in the embodiment of the present application. Figure 6As shown, the aircraft (UAV 200) hovers in place to throw the seedlings, and the throwing trajectory of the second seedling throwing mechanism on the left is S1, and the throwing trajectory of the first seedling throwing mechanism on the right is S2. S1 and S2 are symmetrical based on the center line of the fuselage of the UAV 200.

[0078] Please refer to Figure 7 , Figure 7 This is the second schematic diagram of the seedling throwing trajectory of the flying seedling throwing system of the double seedling throwing mechanism provided in the embodiment of the present application. Figure 7 As shown, when the drone 200 flies along the flight direction D, the positions of the seedling picking modules 30 of the flying seedling throwing system of the double seedling throwing mechanism are synchronized, the rotation speed of the seedling picking modules 30 is the same, and the front and rear seedlings are thrown out at the same time. The seedlings thrown out by the first seedling throwing mechanism and the seedlings thrown out by the second seedling throwing mechanism have a horizontal component velocity and a vertical component velocity when being thrown. When the flight speed of the drone 200 is greater than the horizontal component velocity of the seedlings when being thrown (such as Figure 7 (As shown) From the ground, the seedlings are all moving in the flight direction D of the drone 200, but their trajectories are asymmetric. Specifically, the trajectory of the seedlings thrown by the first seedling throwing mechanism located in the front in the flight direction D is S4. The horizontal component velocity of the seedlings thrown by it is superimposed in the same direction as the flight speed of the drone 200. The forward speed is large and the forward movement distance is longer. The trajectory of the seedlings thrown by the second seedling throwing mechanism located in the rear in the flight direction D is S3. The horizontal component velocity of the seedlings thrown by it is subtracted from the opposite direction of the flight speed of the drone 200. The forward speed is small and the forward movement distance is shorter. When L3=L2, the plant spacing is consistent; generally, L3 is greater than L2, and the plant spacing is inconsistent; when L3 is less than L2, the plant spacing is also inconsistent. Among them, L3 is the synchronous landing plant spacing between the first seedling throwing mechanism and the second seedling throwing mechanism. The synchronous landing plant spacing means that the first seedling throwing mechanism and the second seedling throwing mechanism perform synchronous throwing and the distance between the seedlings after the seedlings fall to the ground. L2 is the landing spacing between the first seedling throwing mechanism i-th throwing and the second seedling throwing mechanism i+1-th throwing, which can also be understood as the target spacing. In the embodiment of the present application, the target spacing L2 can be input by the user or by the system default.

[0079] Of course, the flying speed of the UAV 200 may also be less than the horizontal component velocity of the seedlings when they are thrown. The trajectory of the seedlings is adaptive and will not be elaborated here.

[0080] It should be noted that when the operating plant spacing of the flying seedling throwing system of the double seedling throwing mechanism is inconsistent, the seedling throwing trajectory is as follows: Figure 7 As shown. In the actual equipment layout, the distance between the front and rear seedling throwing mechanisms is fixed. When the distance is far, the plant spacing of the synchronous seedling throwing is always L3 greater than L2, and it is impossible to achieve a consistent L2 plant spacing. For the corresponding ground effect, please refer to Figure 8 , Figure 8 Provided in the embodiments of this application Figure 7Schematic diagram of the ground effect corresponding to the rice seedling throwing trajectory shown. Figure 8 The scenario where L3 is greater than L2 is used for illustration, but it is not intended to be limiting. Figure 8 As shown, L3 is greater than L2, and the plant spacing is inconsistent, which means that the seedling throwing operation is uneven.

[0081] In order to solve the problems of inconsistent plant spacing and irregular operations, the embodiment of the present application also provides a possible implementation method, please refer to the following.

[0082] Optionally, the flying seedling throwing system also includes a control module, which is communicatively connected to the first seedling throwing mechanism and the second seedling throwing mechanism. The control module is used to control the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operations, and there is a seedling throwing time difference between the first seedling throwing mechanism and the second seedling throwing mechanism, so that the landing plant spacing corresponding to the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with the target plant spacing.

[0083] Optionally, the control module is communicatively connected with the first seedling delivering module, the first seedling taking module, the second seedling delivering module and the second seedling taking module to control the first seedling delivering module, the first seedling taking module, the second seedling delivering module and the second seedling taking module to work together to control the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operations, and there is a seedling throwing time difference between the first seedling throwing mechanism and the second seedling throwing mechanism so that the landing plant spacing corresponding to the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with the target plant spacing.

[0084] The control module is also used to execute the following flying seedling throwing system control method. Please refer to the following for details and will not be described in detail here.

[0085] The control module can be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the flying seedling throwing system control method can be completed by the hardware integrated logic circuit in the control module or the instructions in the form of software. The above-mentioned control module can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. Specifically, the control module can be a flight control device on the drone 200, that is, in addition to executing the method provided in this application, the flight control device is also responsible for the flight control and other services of the drone 200. In other embodiments, the control module can also be the control device of the seedling throwing mechanism itself, and the control module can be electrically connected to the flight control device of the drone 200, and the two communicate and cooperate to operate.

[0086] The flying seedling throwing system control method provided in the embodiment of the present application can be applied to, but not limited to, the flying seedling throwing system (i.e., the flying seedling throwing system with a double seedling throwing mechanism) shown in FIG5(a), FIG5(b), and FIG5(c). For the specific process, please refer to FIG5(a). Figure 9 The flying seedling throwing system control method includes: step S101 and step S102, which are specifically described as follows.

[0087] Step S101, controlling the flying seedling throwing system to fly to a target area where seedling throwing operation is required.

[0088] Step S102, controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operation.

[0089] There is a seedling throwing time difference between the first seedling throwing mechanism and the second seedling throwing mechanism, so that the landing spacing corresponding to the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with the target spacing.

[0090] In one possible implementation, the time difference for throwing the rice seedlings is a preconfigured fixed value, or the time difference for throwing the rice seedlings matches the flight altitude and flight speed of the UAV 200 .

[0091] refer to Figure 7 and Figure 8When the first and second seedling throwing mechanisms throw the seedlings synchronously, the corresponding synchronous landing spacing L3 of the first and second seedling throwing mechanisms is not equal to the target spacing L2, resulting in inconsistent spacing and irregular operation. In the embodiment of the present application, by setting a throwing time difference, the first and second seedling throwing mechanisms will not throw the seedlings synchronously, so that the landing spacing of the first and second seedling throwing mechanisms is consistent with the target spacing.

[0092] exist Figure 9 On this basis, regarding how to control the first seedling throwing mechanism and the second seedling throwing mechanism to ensure that the spacing between any two adjacent seedlings in the same row is consistent and is the required target spacing, the embodiment of the present application also provides a possible implementation method, please refer to the following, step S102, controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operations, including: step S102A, which is specifically explained as follows.

[0093] Step S102A, control the first seedling taking module and the second seedling taking module to rotate according to the target rotation speed, and control the rotation angle difference between the first seedling taking module and the second seedling taking module to be the same as the target angle difference, and the target angle difference is determined based on the seedling throwing time difference.

[0094] The target angle difference is the angle turned by the time length corresponding to the seedling throwing time difference at the target rotation speed.

[0095] In one possible implementation, the target rotation speed of the seedling removing module 30 , that is, the target rotation speed of the driving source 31 , can be determined based on the target plant spacing, the target flight speed, and the number of blades 33 provided on the seedling removing module 30 .

[0096] Optionally, the landing spacing corresponding to two adjacent seedling throws by the first seedling throwing mechanism and the landing spacing corresponding to two adjacent seedling throws by the second seedling throwing mechanism are equal, being twice the target spacing. That is, for both the first and second seedling retrieval modules, the spacing corresponding to two adjacent seedling throws is twice the target spacing (2×L2). Therefore, after determining the target spacing, target flight speed, and the number of blades 33 provided on the seedling retrieval module 30, the target rotation speed can be determined.

[0097] For example, when the number of blades 33 provided on the seedling taking module 30 is 1, the seedling taking module 30 rotates one circle to take the seedlings once, and (2×L2)÷V represents the time required for the seedling taking module 30 to rotate one circle, wherein V represents the target flight speed. At this time, the target rotation speed s=60 / ((2×L2)÷V)rpm can be determined; similarly, when the number of blades 33 provided on the seedling taking module 30 is 2, the seedling taking module 30 rotates one circle to take the seedlings twice, and (2×2×L2)÷V represents the time required for the seedling taking module 30 to rotate one circle. At this time, the target rotation speed s=60 / ((2×2×L2)÷V)rpm can be determined.

[0098] Optionally, the seedling throwing time difference can be converted into a target angle difference in combination with the target rotation speed of the seedling picking module 30. For example, the rotation angle of the second seedling picking module and the rotation angle of the first seedling picking module always maintain a target angle difference r. The rotation angle of the second seedling picking module can always lag behind the rotation angle of the first seedling picking module, and the lagging rotation angle difference is the target angle difference r. Alternatively, the rotation angle of the second seedling picking module can always lead the rotation angle of the first seedling picking module, and the leading rotation angle difference is the target angle difference r. Therefore, during the seedling throwing operation, a seedling throwing time difference exists between the first seedling throwing mechanism and the second seedling throwing mechanism, so that the landing spacing corresponding to the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with the target spacing.

[0099] exist Figure 9 On this basis, regarding how to control the first seedling throwing mechanism and the second seedling throwing mechanism to ensure that the spacing between any two adjacent seedlings in the same row is consistent and is the required target spacing, the embodiment of the present application also provides a possible implementation method, please refer to the following, step S102, controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operations, including: step S102C and step S102D, which are specifically explained as follows.

[0100] Step S102C, obtaining the seedling throwing time difference between the first seedling throwing mechanism and the second seedling throwing mechanism based on the synchronous landing plant spacing, the target plant spacing, and the target flight speed.

[0101] The synchronous landing spacing refers to the distance between the seedlings after the first seedling throwing mechanism and the second seedling throwing mechanism perform synchronous seedling throwing.

[0102] Please refer to Figure 7 and Figure 10 , Figure 10 A schematic diagram of a synchronous ground plant spacing provided in an embodiment of the present application, wherein L3 represents the synchronous ground plant spacing.

[0103] In order to ensure that the landing spacing of the seedlings thrown by the first and second seedling throwing mechanisms is equal to the target spacing, it is necessary to accurately obtain the seedling throwing time difference. Regarding how to accurately obtain the seedling throwing time difference, the embodiment of the present application also provides a possible implementation method, please refer to the following, step S102C, based on the synchronous landing spacing, target spacing and target flight speed, obtaining the seedling throwing time difference between the first and second seedling throwing mechanisms, including: step S102C1 and step S102C2, which are specifically explained as follows.

[0104] Step S102C1, obtaining the distance difference between the synchronous landing plant spacing and the target plant spacing.

[0105] Please refer to Figure 11 , Figure 11 This is a schematic diagram of a hysteresis distance provided in an embodiment of the present application. Figure 11 As shown, L3 represents the synchronous landing spacing, and the delay distance represents the distance difference between the synchronous landing spacing and the target spacing. When L3 is greater than L2, the delay distance delay = (L3-L2).

[0106] Step S102C2: determining the time difference between the first and second seedling throwing mechanisms based on the distance difference and the target flight speed.

[0107] Alternatively, when L3 is greater than L2, the seedling throwing time difference can be understood as the delay time, where the delay time t = delay distance ÷ target flight speed v. The second seedling throwing mechanism needs to wait for a delay time t after the first seedling throwing mechanism throws the seedlings. After the flying seedling throwing system 1000 moves the delay distance, the second seedling throwing mechanism picks up the seedlings and throws them. At this time, the landing spacing of the seedlings thrown by the first and second seedling throwing mechanisms is equal to the target spacing, which is L2.

[0108] It should be noted that step S102C1 and step S102C2 are also applicable to the case where L3 is smaller than L2, and are not described in detail here.

[0109] Step S102D: controlling the first and second seedling throwing mechanisms to perform seedling throwing operations according to the seedling throwing time difference.

[0110] Please refer to Figure 12 , Figure 12 This is the third schematic diagram of the seedling throwing trajectory of the flying seedling throwing system of the double seedling throwing mechanism provided in the embodiment of the present application. Figure 13 , Figure 13 Provided in the embodiments of this application Figure 12 The schematic diagram of the ground effect corresponding to the transplanting trajectory is shown in FIG. Figure 12 and Figure 13As shown, after the first and second seedling throwing mechanisms are controlled according to the seedling throwing time difference to perform the seedling throwing operation, the spacing between any two adjacent seedlings in the same row is consistent (both are L2).

[0111] It should be noted that the synchronous landing spacing has a great influence on the accurate acquisition of the time difference of seedling throwing, and thus the accuracy of the synchronous landing spacing will affect whether the spacing of the seedlings thrown is consistent. Regarding how to accurately obtain the synchronous landing spacing, the embodiment of the present application also provides a possible implementation method, please refer to the following. In step S102C, before obtaining the time difference of seedling throwing of the first seedling throwing mechanism and the second seedling throwing mechanism based on the synchronous landing spacing, the target spacing and the target flight speed, the flying seedling throwing system control method also includes: step S102B, which is specifically described as follows.

[0112] Step S102B: determining the synchronous landing plant spacing based on the target flight speed and the target altitude.

[0113] Optionally, the synchronized landing spacing can be calculated based on the target flight speed and target height, and can also be determined by looking up a table. While accurately obtaining the synchronized landing spacing, the calculation process can be simplified as much as possible to improve processing efficiency.

[0114] Optionally, for the content in step S102B, the embodiment of the present application also provides a possible implementation method, please refer to the following, step S102B, determining the synchronous landing plant spacing based on the target flight speed and target height, including: step S102B1, which is specifically described as follows.

[0115] Step S102B1 : matching the target flight speed and the target altitude in a mapping relationship table to determine the synchronous landing plant spacing.

[0116] The mapping relationship table includes a mapping relationship between a combination of a target flight speed and a target altitude and a synchronous landing plant spacing.

[0117] Optionally, the mapping relationship between the combination of target flight speed and target height and the synchronized landing spacing in the mapping relationship table can be obtained based on pre-tested experimental data. For example, given different combinations of flight speed v and flight height h, the first and second seedling-casting mechanisms perform synchronized seedling-casting to obtain synchronized landing spacing for different combinations. Linear interpolation can then be performed to obtain the mapping relationship between the combination of target flight speed and target height and the synchronized landing spacing, which can then be stored in the mapping relationship table.

[0118] Optionally, in the flight direction, the first seedling throwing mechanism is arranged before the second seedling throwing mechanism. On this basis, in order to further ensure the consistency and uniformity of the plant spacing, the embodiment of the present application also provides a possible implementation method, please refer to the following, step S102D, controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform the seedling throwing operation according to the seedling throwing time difference, including: step S102D1 and step S102D2, which are specifically described as follows.

[0119] Step S102D1: When the synchronous landing spacing is greater than the target spacing, after the first seedling throwing mechanism throws the seedlings, the second seedling throwing mechanism throws the seedlings after a delay corresponding to the throwing time difference.

[0120] Optionally, when the synchronous landing spacing is greater than the target spacing, the seedling throwing time difference is greater than 0. The rotation angle of the second seedling taking module may always lag behind the rotation angle of the first seedling taking module, and the lagging rotation angle difference is the target angle difference r, so that after the first seedling throwing mechanism throws the seedlings, the second seedling throwing mechanism will throw the seedlings after a time length corresponding to the delayed seedling throwing time difference.

[0121] Step S102D2: When the synchronous landing spacing is less than the target spacing, after the second seedling throwing mechanism throws the seedlings, the first seedling throwing mechanism throws the seedlings after a delay corresponding to the throwing time difference.

[0122] Optionally, when the synchronous landing plant spacing is less than the target plant spacing, the seedling throwing time difference is less than 0. The rotation angle of the second seedling taking module can always lead the rotation angle of the first seedling taking module, and the leading rotation angle difference is the target angle difference r, so that after the second seedling throwing mechanism throws the seedlings, the first seedling throwing mechanism will throw the seedlings after a time length corresponding to the delay in the seedling throwing time difference.

[0123] Through step S102D1 and step S102D2, a time difference is created between the first and second seedling throwing mechanisms, so that the landing spacings corresponding to the first and second seedling throwing mechanisms are consistent with the target spacings.

[0124] In the embodiment of the present application, the flying seedling throwing system 1000 maintains a target flight speed and flies at a target altitude along a flight direction.

[0125] The present application also provides a computer-readable storage medium storing computer instructions and programs that, when read and executed, execute the flying rice-throwing control method of the above embodiment. The storage medium may include memory, flash memory, registers, or a combination thereof.

[0126] In summary, the embodiments of the present application provide a flying seedling throwing system control method, a storage medium, and a flying seedling throwing system. The flying seedling throwing system includes a first seedling throwing mechanism and a second seedling throwing mechanism. The first seedling throwing mechanism and the second seedling throwing mechanism have a front-to-back positional relationship in the flight direction. The first seedling throwing mechanism includes a first seedling picking module, and the second seedling throwing mechanism includes a second seedling picking module. The first seedling picking module and the second seedling picking module are used for seedling throwing operations in the same row of seedlings. The flying seedling throwing system control method includes: controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operations. By controlling the first seedling throwing mechanism and the second seedling throwing mechanism to have a seedling throwing time difference, while improving the efficiency of the seedling throwing operation, the landing spacing corresponding to the first seedling throwing mechanism and the second seedling throwing mechanism can also be made consistent with the target spacing, thereby ensuring the standardization of the operation.

[0127] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

[0128] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present application is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A flying seedling throwing system control method, characterized in that: The flying seedling throwing system comprises a first seedling throwing mechanism and a second seedling throwing mechanism, the first seedling throwing mechanism and the second seedling throwing mechanism have a front-to-back position relationship in the flying direction, the first seedling throwing mechanism comprises a first seedling taking module, the second seedling throwing mechanism comprises a second seedling taking module, the first seedling taking module and the second seedling taking module are used for seedling throwing operation of the same seedling row, and the method comprises: The first and second seedling throwing mechanisms are controlled to perform seedling throwing operations, wherein there is a seedling throwing time difference between the first and second seedling throwing mechanisms, so that the landing plant spacings corresponding to the first and second seedling throwing mechanisms are consistent with the target plant spacings.

2. The flying seedling throwing system control method according to claim 1, characterized in that: Controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform a seedling throwing operation includes: The first seedling taking module and the second seedling taking module are controlled to rotate according to the target rotation speed, and the rotation angle difference between the first seedling taking module and the second seedling taking module is controlled to be the same as the target angle difference, and the target angle difference is determined based on the seedling throwing time difference.

3. The flying seedling throwing system control method according to claim 2, characterized in that: The target angle difference is the angle turned at the target rotation speed over a time length corresponding to the seedling throwing time difference.

4. The flying seedling throwing system control method according to claim 1, characterized in that: Controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform a seedling throwing operation includes: Obtaining a seedling throwing time difference between the first seedling throwing mechanism and the second seedling throwing mechanism based on the synchronous landing plant spacing, the target plant spacing, and the target flight speed; The synchronous landing spacing refers to the distance between the seedlings after the first seedling throwing mechanism and the second seedling throwing mechanism perform synchronous seedling throwing; The first and second seedling throwing mechanisms are controlled to perform seedling throwing operations according to the seedling throwing time difference.

5. The flying seedling throwing system control method according to claim 4, characterized in that: The method of obtaining the seedling throwing time difference between the first seedling throwing mechanism and the second seedling throwing mechanism based on the synchronous landing plant spacing, the target plant spacing and the target flight speed includes: Obtaining the distance difference between the synchronous landing plant spacing and the target plant spacing; Based on the distance difference and the target flight speed, the seedling throwing time difference between the first seedling throwing mechanism and the second seedling throwing mechanism is determined.

6. The flying seedling throwing system control method according to claim 4, characterized in that: The method further comprises: The synchronous landing plant spacing is determined based on the target flight speed and the target altitude.

7. The flying seedling throwing system control method according to claim 6, characterized in that: Determining the synchronous landing plant spacing based on the target flight speed and the target height includes: Matching is performed in a mapping relationship table based on the target flight speed and the target altitude to determine the synchronous landing plant spacing; The mapping relationship table includes a mapping relationship between a combination of the target flight speed and the target height and the synchronous landing plant spacing.

8. The flying seedling throwing system control method according to claim 4, characterized in that: The first seedling throwing mechanism is arranged before the second seedling throwing mechanism; Controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operation according to the seedling throwing time difference includes: When the synchronous landing plant spacing is greater than the target plant spacing, after the first seedling throwing mechanism throws the seedlings, the second seedling throwing mechanism delays the time length corresponding to the seedling throwing time difference and then throws the seedlings.

9. The flying seedling throwing system control method according to claim 4, characterized in that: The first seedling throwing mechanism is arranged before the second seedling throwing mechanism; Controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operation according to the seedling throwing time difference includes: When the synchronous landing plant spacing is smaller than the target plant spacing, after the second seedling throwing mechanism throws the seedlings, the first seedling throwing mechanism delays the time length corresponding to the seedling throwing time difference and then throws the seedlings.

10. The flying seedling throwing system control method according to claim 1, characterized in that: The first seedling taking module and the second seedling taking module both include a driving source and a cutter head. The driving source is connected to the cutter head and is used to drive the cutter head to separate the seedlings on the seedling delivery module during rotation and throw out the separated seedlings.

11. The flying seedling throwing system control method according to claim 1, characterized in that: The landing spacing corresponding to two consecutive seedling throwings by the first seedling throwing mechanism is equal to the landing spacing corresponding to two consecutive seedling throwings by the second seedling throwing mechanism, which is twice the target spacing.

12. The flying seedling throwing system control method according to any one of claims 1 to 11, characterized in that: The flying seedling throwing system maintains a target flying speed and flies at a target altitude along the flying direction.

13. A flying seedling throwing system, characterized in that: include: A load module, wherein the load module is used to be arranged on the drone; A first seedling throwing mechanism and a second seedling throwing mechanism, wherein the first seedling throwing mechanism and the second seedling throwing mechanism are both arranged on the load module and have a front-to-back positional relationship in the flight direction, the first seedling throwing mechanism comprises a first seedling sending module and a first seedling taking module, the second seedling throwing mechanism comprises a second seedling sending module and a second seedling taking module, the first seedling sending module and the second seedling sending module are used to transport the seedling blanket, the first seedling taking module and the second seedling taking module are used to separate the seedlings from the seedling blanket and then throw them out, and are used for seedling throwing operations in the same seedling row; A control module is communicatively connected with the first and second seedling throwing mechanisms, and the control module is used to control the first and second seedling throwing mechanisms to perform seedling throwing operations, and there is a seedling throwing time difference between the first and second seedling throwing mechanisms, so that the landing spacing corresponding to the first and second seedling throwing mechanisms is consistent with the target spacing.

14. The flying seedling throwing system according to any one of claims 13, characterized in that: The control module is also used to execute the flying seedling throwing system control method as described in any one of claims 2-12.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

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