A flying seedling throwing system control method, a storage medium and a flying seedling throwing system

Abstract

The application provides a flying seedling throwing system control method, a storage medium and a flying seedling throwing system. 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-back positional relationship in a flying direction. The first seedling throwing mechanism comprises a first seedling taking module, and 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. The flying seedling throwing system control method comprises the following steps: controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operation. By controlling the first seedling throwing mechanism and the second seedling throwing mechanism to have a seedling throwing time difference, the corresponding landing plant distance of the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with a target plant distance, the efficiency of seedling throwing operation is improved, and the standardization of operation is ensured.

Description

TECHNICAL FIELD

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

[0002] Intelligent agriculture is a hot development field at present, and various functional agricultural machinery and equipment are successively launched to help realize mechanization and intelligent operation, reduce the difficulty of agricultural production, and improve agricultural output. Agricultural machinery and equipment include rotary tillers, seedling planters, harvesters, spraying machines, and seedling throwers.

[0003] Among them, the flying seedling throwing system as a kind of seedling throwing machine can perform aerial operation without being restricted by terrain, quickly and efficiently complete the seedling throwing task, and is paid attention to by those skilled in the art. At the same time, those skilled in the art also begin to pay attention to how to control the flying seedling throwing system to improve the standardization of operation. SUMMARY

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

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

[0006] In a first aspect, the embodiments of the present application provide a flying seedling throwing system control method, a flying seedling throwing system including a first seedling throwing mechanism and a second seedling throwing mechanism, the first seedling throwing mechanism and the second seedling throwing mechanism having a front and back positional relationship in the flying direction, the first seedling throwing mechanism including a first seedling taking module, the second seedling throwing mechanism including a second seedling taking module, the first seedling taking module and the second seedling taking module being used for seedling throwing operation of the same seedling row, the method including: controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operation, wherein the first seedling throwing mechanism and the second seedling throwing mechanism have a seedling throwing time difference, so that the corresponding landing plant spacing of the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with the target plant spacing.

[0007] In the present application, by controlling the first seedling throwing mechanism and the second seedling throwing mechanism to have a seedling throwing time difference, the corresponding landing plant spacing of the first seedling throwing mechanism and the second seedling throwing mechanism can be made consistent with the target plant spacing while improving the efficiency of seedling throwing operation, thereby ensuring the standardization of operation.

[0008] Optionally, the control of the first and second seedling throwing mechanisms to perform the seedling throwing operation comprises: controlling the first and second seedling taking modules to rotate at a target rotating speed, and controlling the rotating angle difference between the first and second seedling taking modules to be the same as a target angle difference, the target angle difference being determined based on the seedling throwing time difference.

[0009] In the scheme, by controlling the rotating angle difference between the first and second seedling taking modules to be the same as the target angle difference, the first and second seedling throwing mechanisms have the seedling throwing time difference during the seedling throwing operation, so that the corresponding landing plant spacing of the first and second seedling throwing mechanisms is consistent with the target plant spacing.

[0010] Optionally, the target angle difference is an angle rotated by the first and second seedling taking modules in a time length corresponding to the seedling throwing time difference at the target rotating speed, so that the plant spacing of any two adjacent seedlings in the same row is consistent and is the target plant spacing.

[0011] Optionally, the control of the first and second seedling throwing mechanisms to perform the seedling throwing operation comprises: obtaining the seedling throwing time difference of the first and second seedling throwing mechanisms based on a synchronous landing plant spacing, the target plant spacing, and a target flight speed, wherein the synchronous landing plant spacing represents the distance between the seedlings after the seedlings are thrown by the first and second seedling throwing mechanisms at the same time; and controlling the first and second seedling throwing mechanisms to perform the seedling throwing operation according to the seedling throwing time difference. Thus, the plant spacing of any two adjacent seedlings in the same row is consistent and is the target plant spacing.

[0012] Optionally, the obtaining of the seedling throwing time difference of the first and second seedling throwing mechanisms based on the synchronous landing plant spacing, the target plant spacing, and the target flight speed comprises: obtaining a distance difference between the synchronous landing plant spacing and the target plant spacing; and determining the seedling throwing time difference of the first and second seedling throwing mechanisms based on the distance difference and the target flight speed. The seedling throwing time difference is accurately obtained, and thus the plant spacing of any two adjacent seedlings in the same row is consistent and is the target plant spacing.

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

[0014] In the scheme, the synchronous landing plant spacing has a great influence on the accurate acquisition of the seedling throwing time difference, and thus the accuracy of the synchronous landing plant spacing will affect whether the seedling throwing plant spacing is consistent. The synchronous landing plant spacing is accurately obtained based on the target flight speed and the target height.

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

[0016] In the scheme, the synchronous landing plant spacing is determined by table lookup, which simplifies the calculation process as much as possible and improves the processing efficiency while accurately obtaining the synchronous landing plant spacing.

[0017] Optionally, the first seedling throwing mechanism is arranged before the second seedling throwing mechanism; and the first seedling throwing mechanism and the second seedling throwing mechanism are controlled to perform seedling throwing operation according to the seedling throwing time difference, which comprises: when the synchronous landing plant spacing is greater than the target plant spacing, the second seedling throwing mechanism performs seedling throwing after the first seedling throwing mechanism performs seedling throwing, with a lag of a time length corresponding to the seedling throwing time difference; and when the synchronous landing plant spacing is less than the target plant spacing, the first seedling throwing mechanism performs seedling throwing after the second seedling throwing mechanism performs seedling throwing, with a lag of a time length corresponding to the seedling throwing time difference, so as to further ensure the consistency and uniformity of the plant spacing.

[0018] Optionally, the first seedling taking module and the second seedling taking module each comprise a driving source and a cutter head, the driving source is connected with the cutter head and is used to drive the cutter head to separate the blanket seedlings on the seedling conveying module in the rotation process and throw out the separated seedlings.

[0019] Optionally, the landing plant spacing corresponding to adjacent two times of seedling throwing of the first seedling throwing mechanism and the landing plant spacing corresponding to adjacent two times of seedling throwing of the second seedling throwing mechanism are equal and are twice the target plant spacing.

[0020] Optionally, the flight seedling throwing system keeps a target flight speed to fly along the flight direction at a target height.

[0021] In a second aspect, the embodiments of the present application provide a flight seedling throwing system, comprising:

[0022] A load module, which is used to be arranged on a UAV;

[0023] A first seedling throwing mechanism and a second seedling throwing mechanism, which are both arranged on the load module and have a front-back positional relationship in the flight direction, the first seedling throwing mechanism comprises a first seedling conveying module and a first seedling taking module, the second seedling throwing mechanism comprises a second seedling conveying module and a second seedling taking module, the first seedling conveying module and the second seedling conveying module are used to convey blanket seedlings, the first seedling taking module and the second seedling taking module are used to throw out the seedlings separated from the blanket seedlings and perform seedling throwing operation for the same seedling row.

[0024] a control module, which is in communication connection with the first seedling throwing mechanism and the second seedling throwing mechanism, is configured to control the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operation, and the first seedling throwing mechanism and the second seedling throwing mechanism have a seedling throwing time difference, so that the corresponding landing plant spacing of the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with the target plant spacing.

[0025] Optionally, the control module is further configured to execute the flying seedling throwing system control method of any one of the first aspect.

[0026] In a third aspect, a computer readable storage medium is provided, and a computer program is stored in the computer readable storage medium, and the computer program is executed by a processor to implement the method.

[0027] In order to make the above objectives, characteristics and advantages of the present application more apparent, clear and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0029] Figure 1 Structure diagram of a flying seedling throwing system provided by the embodiments of the present application;

[0030] Figure 2 Structure diagram of a seedling throwing mechanism provided by the embodiments of the present application from a first perspective;

[0031] Figure 3 Structure diagram of a seedling throwing mechanism provided by the embodiments of the present application from a second perspective;

[0032] Figure 4(a) is a side view schematic diagram of a flying seedling throwing system with a single seedling throwing mechanism provided by the embodiments of the present application;

[0033] Figure 4(b) is an axonometric schematic diagram of a flying seedling throwing system with a single seedling throwing mechanism provided by the embodiments of the present application;

[0034] Figure 4(c) is a top view schematic diagram of a flying seedling throwing system with a single seedling throwing mechanism provided by the embodiments of the present application;

[0035] Figure 5(a) is a side view schematic diagram of a flying seedling throwing system with a double seedling throwing mechanism provided by the embodiments of the present application;

[0036] Fig. 5(b) is an axonometric view of a flying seedling throwing system with a double seedling throwing mechanism according to an embodiment of the present application;

[0037] Fig. 5(c) is a top view of a flying seedling throwing system with a double seedling throwing mechanism according to an embodiment of the present application;

[0038] Figure 6 Fig. 5(d) is a schematic diagram of a seedling throwing trajectory of a flying seedling throwing system with a double seedling throwing mechanism according to an embodiment of the present application;

[0039] Figure 7 Fig. 5(e) is a schematic diagram of another seedling throwing trajectory of a flying seedling throwing system with a double seedling throwing mechanism according to an embodiment of the present application;

[0040] Figure 8 Fig. 5(f) is a schematic diagram of a ground effect corresponding to the seedling throwing trajectory shown in Fig. 5(d) according to an embodiment of the present application; Figure 7

[0041] Figure 9 Fig. 6 is a flowchart of a control method of a flying seedling throwing system according to an embodiment of the present application;

[0042] Figure 10 Fig. 7 is a schematic diagram of a synchronous landing plant distance according to an embodiment of the present application;

[0043] Figure 11 Fig. 8 is a schematic diagram of a lag distance according to an embodiment of the present application;

[0044] Figure 12 Fig. 9 is a schematic diagram of a seedling throwing trajectory of a flying seedling throwing system with a double seedling throwing mechanism according to an embodiment of the present application;

[0045] Figure 13 Fig. 10 is a schematic diagram of a ground effect corresponding to the seedling throwing trajectory shown in Fig. 9 according to an embodiment of the present application. Figure 12

[0046] In the drawings: 1000 - flying seedling throwing system; 100 - seedling throwing mechanism; 20 - seedling feeding module; 30 - seedling taking module; 31 - driving source; 32 - transmission box; 33 - cutter head; 200 - unmanned aerial vehicle; 300 - mat seedling; 310 - seedling; 400 - load module. DETAILED DESCRIPTION

[0047] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. 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] ​​The following detailed description of embodiments of the application in the description of the application is not intended to limit the scope of the application claimed, but merely represents the selected embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the application.

[0049] In the description of the application, it should also be noted that unless otherwise explicitly specified and limited, the terms "set", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0050] Some embodiments of the application will be described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0051] Please refer to Figure 1 and Figure 2 , Figure 1 is a structure diagram of a flight seedling throwing system provided by an embodiment of the application, Figure 2 is a structure diagram of a seedling throwing mechanism from a first perspective. The embodiment provides a seedling throwing mechanism 100 and a flight seedling throwing system 1000. Specifically, the flight seedling throwing system 1000 includes a flight vehicle (for example, a drone 200, which will be taken as an example in the following description), a load module 400, and at least one set of seedling throwing mechanism 100, which is arranged on the load module 400, and the load module 400 is 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 elastic force to realize seedling throwing operation. At the same time, the flight seedling throwing operation is realized by cooperating with the flight of the drone 200.

[0052] There are many ways to throw the seedlings 310 out of the seedling throwing mechanism 100. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the blanket seedlings 300, the seedlings 310 can be thrown out by centrifugal force. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the blanket seedlings 300, the separated seedlings 310 can be thrown out by elastic force (the seedling throwing mechanism 100 can be provided with an elastic member, which can provide elastic force). In one embodiment, the seedling throwing mechanism 100 can throw the separated seedlings 310 out by the combined action of centrifugal force and elastic force.

[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 the embodiment, two cutter heads 33 are distributed on one transmission box 32. Of course, in other embodiments, only one cutter head 33 can be distributed, or three, four or more cutter heads 33 can be distributed. When two cutter heads 33 are distributed on one transmission box 32, the angles of the two cutter heads 33 to the center of the transmission box 32 can be 180 degrees, the three cutter heads 33 can be spaced 120 degrees, and the four cutter heads 33 can be spaced 90 degrees, that is, the cutter heads 33 can be arranged in a uniform distribution. Of course, it is not excluded that the cutter heads 33 are arranged in a non-uniform distribution in some scenarios. By designing a larger number of cutter heads 33 on the transmission box 32, the seedling taking efficiency can be improved at the same rotation speed.

[0064] On the other hand, the efficiency of the seedling throwing operation can also be improved by increasing the number of seedling feeding modules 20. Please refer to Figure 3 In the embodiment, the number of seedling feeding modules 20 is multiple, and the number of seedling taking modules 30 is multiple and corresponds to the multiple seedling feeding modules 20.

[0065] Specifically, Figure 3 In the embodiment, the number of seedling feeding modules 20 is three, and correspondingly, the number of seedling taking modules 30 is also three. Of course, when the number of seedling feeding modules 20 is greater than three, the number of seedling taking modules 30 can also be increased correspondingly. Generally, the seedlings 310 fed by the multiple seedling feeding modules 20 are the same kind of seedlings 310, and the seedling throwing operation is performed in the same piece of farmland, so the multiple seedling taking modules 30 can be controlled to operate synchronously by the control device arranged on the load module 400, or the flight control of the unmanned aerial vehicle 200 can be controlled. Of course, it is not excluded that the multiple seedling feeding modules 20 operate independently, for example, the taking efficiency of the multiple seedling taking modules 30 is not equal, or part of the seedling taking modules 30 are controlled to work, while the rest of the seedling taking modules 30 do not work.

[0066] Figures 1-3 The embodiment shown shows the main structure of the seedling throwing mechanism 100 provided by the application, and in addition, the multiple modules (the load module 400, the seedling feeding module 20, the seedling taking module 30, etc.) mentioned in the application can be manufactured and sold separately in the early stage, and assembled to form an overall structure in the later stage.

[0067] According to the flying seedling throwing system 1000 provided by the embodiment, the working principle of the flying seedling throwing system 1000 is as follows: when the unmanned aerial vehicle 200 flies, the driving source 31 drives the transmission box 32 to rotate, the transmission box 32 drives the cutter head 33 to rotate at a high speed, the cutter head 33 is separated and the seedling 310 is taken off when the cutter head 33 rotates to the opening, the seedling 310 is driven to rotate, and when the seedling 310 rotates to a certain angle, the seedling 310 is thrown out and falls into the field under the action of centrifugal force and / or ejection force, so that the seedling throwing is realized while the seedling 300 flies. Meanwhile, the seedling feeding module 20 moves horizontally, and the blanket seedling 300 moves left and right, so that the blanket seedling 300 is separated and thrown row by row. When the seedling 310 in one row of the blanket seedling 300 in the left and right directions is separated, the whole blanket seedling 300 moves downward under the action of gravity and the driving force of the conveying device, so that the seedling feeding module 20 moves horizontally again, and the seedling 310 is separated and thrown row by row. In this way, the above process is repeated and circulated until all the blanket seedlings 300 are separated and thrown.

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

[0069] FIG. 4(c) is a top view schematic diagram of the flying seedling throwing system with a single seedling throwing mechanism provided by the embodiment of the application. L1 in FIG. 4(c) represents the distance between the seedling taking modules in adjacent rows, which is also called the row distance of the operation.

[0070] The flying seedling throwing system of the single seedling throwing mechanism can make the plant spacing consistent under the condition of no wind or stable environmental wind based on the given flying height and flying speed, and the rotation speed of the seedling taking module 30 is unchanged. However, the flying seedling throwing system of the single seedling throwing mechanism has a problem that the upper limit of the rotation speed of the seedling taking module 30 limits the efficiency of the operation. For example, the highest rotation speed of the seedling taking module 30 of the flying seedling throwing system of the single seedling throwing mechanism is 3600 rpm, and under the highest rotation speed, the flying speed can only be 4 m / s to achieve a plant spacing of 20 cm (the data is only for illustration and does not constitute a limitation). In order to further improve the efficiency of the flying seedling throwing system of the single seedling throwing mechanism, the throwing width of the same aircraft cannot be increased indefinitely (that is, the number of seedling feeding modules 20 and seedling taking modules 30 cannot be increased in the transverse direction, such as three seedling feeding modules 20 and three corresponding seedling taking modules 30 in the transverse direction in FIG. 4(b)), and there will be an upper limit. In order to improve the efficiency of the operation, the flying seedling throwing system provided by the embodiments of the present application comprises an unmanned aerial vehicle 200 and two sets of seedling throwing mechanisms 100. Please refer to FIGS. 5(a), 5(b) and 5(c), FIG. 5(a) is a side view schematic diagram of a flying seedling throwing system with double seedling throwing mechanisms according to the embodiments of the present application; FIG. 5(b) is an axonometric view schematic diagram of a flying seedling throwing system with double seedling throwing mechanisms according to the embodiments of the present application; and FIG. 5(c) is a top view schematic diagram of a flying seedling throwing system with double seedling throwing mechanisms according to the embodiments of the present application.

[0071] FIGS. 5(a), 5(b) and 5(c) show another embodiment of the flying seedling throwing system 1000, and the description of the same modules, mechanisms or components can refer to the foregoing. In this embodiment, the flying seedling throwing system 1000 has two sets of seedling throwing mechanisms 100 (a first seedling throwing mechanism and a second seedling throwing mechanism), and the two sets of seedling throwing mechanisms 100 share one load module 400. The two sets of seedling throwing mechanisms 100 are arranged in a back-to-back manner, that is, one set is set at the opposite side by turning 180° to coincide with the other set. Of course, in other embodiments, the two sets of seedling throwing mechanisms can also be arranged in other ways (for example, arranged in the same direction), and three, four or more sets of seedling throwing mechanisms 100 can also 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-rear positional relationship in the flying direction, the first seedling throwing mechanism comprises a first seedling feeding module and a first seedling taking module, the second seedling throwing mechanism comprises a second seedling feeding module and a second seedling taking module, the first seedling feeding module and the second seedling feeding module are used to transport the mat seedlings, the first seedling taking module and the second seedling taking module are used to throw out the seedlings after separating the seedlings from the mat seedlings, and are used for the seedling throwing operation of the same seedling row.

[0073] It should be noted that the first seedling taking module and the second seedling taking module each comprise a driving source 31 and a tool bit 33, and the corresponding component descriptions can refer to the foregoing.

[0074] Optionally, the flying seedling throwing system 1000 can further comprise a third seedling throwing mechanism, the third seedling throwing mechanism has a front-back positional relationship with the first seedling throwing mechanism or the second seedling throwing mechanism in the flying direction, for example, the first seedling throwing mechanism is at the front, the second seedling throwing mechanism is in the middle, and the third seedling throwing mechanism is at the back, the three seedling throwing mechanisms can be arranged in the same direction (i.e. not the back-to-back arrangement described above), each seedling throwing mechanism comprises a corresponding seedling feeding module and a seedling taking module, and can cooperate to perform seedling throwing operation of the same seedling row, which will not be described herein.

[0075] It should be noted that when only one set of first seedling feeding modules and one set of first seedling taking modules are arranged in the first seedling throwing mechanism, and only one set of second seedling feeding modules and one set of second seedling taking modules are arranged in the second seedling throwing mechanism, the first seedling taking modules and the second seedling taking modules are arranged in front of and behind each other in the flying direction. When N sets of first seedling feeding modules and N sets of first seedling taking modules are arranged in the first seedling throwing mechanism, and N sets of second seedling feeding modules and N sets of second seedling taking modules are arranged in the second seedling throwing mechanism, for example Figure 3 , 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 two corresponding in one 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 seedling throwing mechanism is responsible for one row by the front and back two seedling taking modules 30, the flying speed can be increased by 1 times under the same seedling taking module 30 rotating speed, for example, the highest rotating speed of the seedling taking module 30 of the flying seedling throwing system of the double seedling throwing mechanism is 3600 rpm, and under the highest rotating speed, to achieve a plant spacing of 20 cm, the flying speed can reach 8 m / s. In the same seedling throwing width (the same number of transverse seedling taking modules 30 are distributed, for example, three groups of transverse seedling taking modules 30 are distributed as shown in Figure 3 , three rows of seedling throwing operation can be performed at the same time, and the seedling throwing width is three rows), and the operation efficiency of the flying seedling throwing system of the double seedling throwing mechanism is doubled relative to the operation efficiency of the flying seedling throwing system of the single seedling throwing mechanism in unit time. However, a problem arises that the plant spacing of the flying seedling throwing system of the double seedling throwing mechanism cannot reach the desired 20 cm, or can only partially reach it, and the plant spacing is inconsistent, that is, the seedling throwing is uneven, which will affect the final yield.

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

[0078] Please refer to Figure 7 , Figure 7 The second seedling throwing trajectory diagram of the flight seedling throwing system with double seedling throwing mechanisms provided in the embodiments of the present application is shown. As shown Figure 7 , when the drone 200 flies in the flight direction D, the seedling taking module 30 of the flight seedling throwing system with double seedling throwing mechanisms is in a synchronous position, and the seedling taking module 30 has the same rotating speed, and the 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 horizontal and vertical component velocities when thrown out. When the flight speed of the drone 200 is greater than the horizontal component velocity of the seedlings when thrown out (as shown Figure 7 ), the seedlings are moving towards the flight direction D of the drone 200 from the ground, but the trajectories are asymmetrical. Specifically, the trajectory of the seedlings thrown out 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 out by the first seedling throwing mechanism is superimposed in the same direction with the flight speed of the drone 200, the forward velocity is large, and the forward movement distance is farther, and the trajectory of the seedlings thrown out 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 out by the second seedling throwing mechanism is subtracted in the opposite direction with the flight speed of the drone 200, the forward velocity is small, and the forward movement distance is closer. When L3 = L2, the plant spacing is consistent; generally, L3 is greater than L2, and the plant spacing is inconsistent; and when L3 is less than L2, the plant spacing is also inconsistent. Wherein, L3 is the synchronous landing plant spacing between the first seedling throwing mechanism and the second seedling throwing mechanism, which means that the first seedling throwing mechanism and the second seedling throwing mechanism perform synchronous seedling throwing, and the distance between the seedlings after landing. L2 is the landing plant spacing of the i-th seedling throwing of the first seedling throwing mechanism and the i+1-th seedling throwing of the second seedling throwing mechanism, which can also be understood as the target plant spacing. In the embodiments of the present application, the target plant spacing L2 can be input by the user or be the system default.

[0079] Of course, the flight speed of the drone 200 can also be less than the horizontal component velocity of the seedlings when thrown out, and the seedling throwing trajectory is adaptively changed, which is not described here.

[0080] It should be noted that when the working plant spacing of the flight seedling throwing system with double seedling throwing mechanisms is inconsistent, the seedling throwing trajectory is as shown Figure 7 . Since the interval distance between the front and rear two seedling throwing mechanisms is fixed in the actual device layout, under the condition that the interval distance is far, the synchronous seedling throwing plant spacing always has the case that L3 is greater than L2, and consistent L2 plant spacing cannot be achieved, and the corresponding ground effect please refer to Figure 8 , Figure 8 The flight seedling throwing system with double seedling throwing mechanisms provided in the embodiments of the present application is shown Figure 7The ground effect diagram corresponding to the illustrated seedling throwing trajectory. Figure 8 The scenario where L3 is greater than L2 is illustrated, but this is not a limitation. As shown in the figure, L3 is greater than L2, and the plant spacing is inconsistent, i.e., the seedling throwing operation is not uniform. Figure 8

[0081] In order to solve the problem of inconsistent plant spacing and non-standard operation, the embodiment of the application also provides a possible implementation, please refer to the following.

[0082] Optionally, the flying seedling throwing system further comprises a control module, the control module is in communication connection with 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 operation, and the first seedling throwing mechanism and the second seedling throwing mechanism have a seedling throwing time difference, so that the corresponding landing plant spacing of the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with the target plant spacing.

[0083] Optionally, the control module is in communication connection with the first seedling feeding module, the first seedling taking module, the second seedling feeding module and the second seedling taking module, and the first seedling feeding module, the first seedling taking module, the second seedling feeding module and the second seedling taking module are controlled to work cooperatively to control the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operation, and the first seedling throwing mechanism and the second seedling throwing mechanism have a seedling throwing time difference, so that the corresponding landing plant spacing of 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 flying seedling throwing system control method described below, please refer to the following, which will not be repeated here.

[0085] ​The control module can be an integrated circuit chip having a signal processing capability. In the implementation process, the steps of the flying seed throwing system control method can be completed by the integrated logic circuit of the hardware or the instruction in the form of software in the control module. The control module described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; 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 unmanned aerial vehicle 200, that is, the flight control device not only performs the method provided in the present application, but also is responsible for the flight control of the unmanned aerial vehicle 200 and other businesses. In other embodiments, the control module can also be a control device of the seed throwing mechanism, and the control module can be electrically connected with the flight control device of the unmanned aerial vehicle 200, and the two devices communicate to cooperate.

[0086] The flying seed throwing system control method provided in the embodiments of the present application can be applied to the flying seed throwing system (i.e. the flying seed throwing system with double seed throwing mechanisms) shown in FIGS. 5(a), 5(b) and 5(c), but is not limited thereto. For the specific flow, please refer to Figure 9 The flying seed throwing system control method includes steps S101 and S102, which are specifically described as follows.

[0087] In step S101, the flying seed throwing system is controlled to fly to a target area where seed throwing operation needs to be performed.

[0088] In step S102, the first seed throwing mechanism and the second seed throwing mechanism are controlled to perform seed throwing operation.

[0089] The first seed throwing mechanism and the second seed throwing mechanism have a seed throwing time difference, so that the corresponding landing plant distances of the first seed throwing mechanism and the second seed throwing mechanism are consistent with the target plant distance.

[0090] In a possible implementation, the seed throwing time difference is a preconfigured fixed value, or the seed throwing time difference is matched with the flight height and flight speed of the unmanned aerial vehicle 200.

[0091] For reference Figure 7 and Figure 8In the case that the first seedling throwing mechanism and the second seedling throwing mechanism throw seedlings synchronously, the corresponding synchronous landing plant spacing L3 of the first seedling throwing mechanism and the second seedling throwing mechanism is not equal to the target plant spacing L2, resulting in inconsistent plant spacing and non-standard operation. In the embodiment of the present application, by setting the seedling throwing time difference, the first seedling throwing mechanism and the second seedling throwing mechanism will not throw seedlings synchronously, so that the corresponding landing plant spacing of the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with the target plant spacing.

[0092] On the basis of Figure 9 The embodiment of the present application also provides a possible optional implementation for how to control the first seedling throwing mechanism and the second seedling throwing mechanism to ensure that the plant spacing of any two adjacent seedlings in the same row is consistent and the target plant spacing, please refer to the following steps S102, controlling the first seedling throwing mechanism and the second seedling throwing mechanism to throw seedlings, including: step S102A, which is specifically described as follows.

[0093] Step S102A, controlling the first seedling taking module and the second seedling taking module to rotate at the target rotating speed, and controlling the rotating angle difference between the first seedling taking module and the second seedling taking module to be the same as the target angle difference, the target angle difference being determined based on the seedling throwing time difference.

[0094] The target angle difference is the angle rotated through the time length corresponding to the seedling throwing time difference at the target rotating speed.

[0095] In a possible optional implementation, the target rotating speed of the seedling taking module 30 can be determined based on the target plant spacing, the target flight speed and the number of cutter heads 33 arranged on the seedling taking module 30, that is, the target rotating speed of the driving source 31 is determined.

[0096] Optionally, the corresponding landing plant spacing of adjacent two times of seedling throwing of the first seedling throwing mechanism and the corresponding landing plant spacing of adjacent two times of seedling throwing of the second seedling throwing mechanism are equal, which is twice the target plant spacing. That is, for both the first seedling taking module and the second seedling taking module, the plant spacing corresponding to the seedlings thrown adjacent two times is twice the target plant spacing (2xL2). Therefore, after the target plant spacing, the target flight speed and the number of cutter heads 33 arranged on the seedling taking module 30 are determined, the target rotating speed can be determined.

[0097] For example, when the number of cutter heads 33 arranged on the seedling taking module 30 is 1, the seedling taking module 30 takes seedlings once per revolution, and (2*L2) / V represents the time required for the seedling taking module 30 to take one revolution, where V represents the target flight speed. At this time, the target rotation speed s can be determined as 60 / ((2*L2) / V) rpm. Similarly, when the number of cutter heads 33 arranged on the seedling taking module 30 is 2, the seedling taking module 30 takes seedlings twice per revolution, and (2*2*L2) / V represents the time required for the seedling taking module 30 to take one revolution. At this time, the target rotation speed s can be determined as 60 / ((2*2*L2) / V) rpm.

[0098] Alternatively, the seedling throwing time difference can be converted into a target angle difference in combination with the target rotation speed of the seedling taking module 30. For example, the rotation angle of the second seedling taking module can always maintain a target angle difference r with the rotation angle of the first seedling taking module. The rotation angle of the second seedling taking module can always lag behind the rotation angle of the first seedling taking module by the target angle difference r, or the rotation angle of the second seedling taking module can always lead the rotation angle of the first seedling taking module by the target angle difference r. Thus, during the seedling throwing operation, the first seedling throwing mechanism and the second seedling throwing mechanism have a seedling throwing time difference, so that the corresponding distances between the seedlings of the first seedling throwing mechanism and the second seedling throwing mechanism are consistent with the target distance.

[0099] On the basis of Figure 9 , the present application embodiment further provides a possible implementation manner for how to control the first seedling throwing mechanism and the second seedling throwing mechanism to ensure that the distances between any two adjacent seedlings in the same row are consistent and are the required target distance. Please refer to the following steps S102. Step S102C and step S102D are described as follows.

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

[0101] The synchronous landing distance represents the distance between the seedlings after the seedlings are thrown by the first seedling throwing mechanism and the second seedling throwing mechanism.

[0102] Please refer to Figure 7 and Figure 10 , Figure 10 A schematic diagram of the synchronous landing distance is provided for the present application embodiment, where L3 represents the synchronous landing distance.

[0103] In order to ensure that the landing plant distance of the first and second seedling throwing mechanisms is equal to the target plant distance, the seedling throwing time difference needs to be accurately obtained. As to how to accurately obtain the seedling throwing time difference, the embodiment of the present application further provides a possible implementation manner, please refer to the following, step S102C, obtaining the seedling throwing time difference of the first and second seedling throwing mechanisms based on the synchronous landing plant distance, the target plant distance and the target flight speed, comprising: step S102C1 and step S102C2, which are specifically described as follows.

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

[0105] Please refer to Figure 11 , Figure 11 A schematic diagram of the lag distance provided by the embodiment of the present application. As shown in Figure 11 , L3 represents the synchronous landing plant distance, the lag distance represents the distance difference between the synchronous landing plant distance and the target plant distance, and in the case of L3 being greater than L2, the lag distance delay=(L3-L2).

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

[0107] Optionally, in the case of L3 being greater than L2, the seedling throwing time difference can be understood as the lag time, and the lag time t=lag distance delay÷target flight speed v. The second seedling throwing mechanism needs to wait for the lag time t after the first seedling throwing mechanism throws the seedlings, and then the second seedling throwing mechanism throws the seedlings after the flying seedling throwing system 1000 moves the lag distance delay. At this time, the landing plant distance of the first and second seedling throwing mechanisms is equal to the target plant distance, which is L2.

[0108] It should be noted that step S102C1 and step S102C2 are also applicable to the case of L3 being less than L2, which will not be described here.

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

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

[0111] It should be noted that the synchronous landing plant spacing has a great influence on the accurate acquisition of the seedling throwing time difference, and then the accuracy of the synchronous landing plant spacing will affect whether the seedling throwing plant spacing is consistent. As to how to accurately acquire the synchronous landing plant spacing, the embodiments of the present application also provide a possible optional implementation manner, please refer to the following. Before the seedling throwing time difference of the first and second seedling throwing mechanisms is acquired based on the synchronous landing plant spacing, the target plant spacing and the target flight speed in step S102C, the flight seedling throwing system control method further comprises step S102B, which is specifically described as follows.

[0112] In step S102B, the synchronous landing plant spacing is determined based on the target flight speed and the target height.

[0113] Optionally, the synchronous landing plant spacing can be calculated based on the target flight speed and the target height, and the synchronous landing plant spacing can also be determined by looking up a table, so as to simplify the calculation process as much as possible while accurately acquiring the synchronous landing plant spacing, and improve the processing efficiency.

[0114] Optionally, for the content in step S102B, the embodiments of the present application also provide a possible optional implementation manner, please refer to the following. In step S102B, the synchronous landing plant spacing is determined based on the target flight speed and the target height, comprising step S102B1, which is specifically described as follows.

[0115] In step S102B1, the target flight speed and the target height are matched in a mapping relationship table to determine the synchronous landing plant spacing.

[0116] The mapping relationship table contains the mapping relationship between the combination of the target flight speed and the target height and the synchronous landing plant spacing.

[0117] Optionally, the mapping relationship between the combination of the target flight speed and the target height and the synchronous landing plant spacing in the mapping relationship table can be obtained through pre-experimental data. For example, when different combinations of flight speed v and flight height h are given, the first and second seedling throwing mechanisms perform synchronous seedling throwing to obtain the synchronous landing plant spacing under different combinations. Then linear interpolation processing can be performed to acquire the mapping relationship between the combination of the target flight speed and the target height and the synchronous landing plant spacing, which is saved 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 guarantee the consistency and uniformity of the plant spacing, the application embodiment further provides a possible implementation manner, please refer to the following, step S102D, the first seedling throwing mechanism and the second seedling throwing mechanism are controlled to carry out 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 plant spacing is greater than the target plant spacing, after the first seedling throwing mechanism throws the seedling, the second seedling throwing mechanism throws the seedling after a time length corresponding to the seedling throwing time difference.

[0120] Optionally, when the synchronous landing plant spacing is greater than the target plant spacing, the seedling throwing time difference is greater than 0, which can be that the rotation angle of the second seedling taking module always lags behind the rotation angle of the first seedling taking module, and the lagging rotation angle difference is the target angle difference r, so that the second seedling throwing mechanism throws the seedling after a time length corresponding to the seedling throwing time difference after the first seedling throwing mechanism throws the seedling.

[0121] Step S102D2, when the synchronous landing plant spacing is less than the target plant spacing, after the second seedling throwing mechanism throws the seedling, the first seedling throwing mechanism throws the seedling after a time length corresponding to the seedling 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, which can be that the rotation angle of the second seedling taking module always leads the rotation angle of the first seedling taking module, and the leading rotation angle difference is the target angle difference r, so that the first seedling throwing mechanism throws the seedling after a time length corresponding to the seedling throwing time difference after the second seedling throwing mechanism throws the seedling.

[0123] Through steps S102D1 and S102D2, the first seedling throwing mechanism and the second seedling throwing mechanism have the seedling throwing time difference, 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.

[0124] In the application embodiment, the flight seedling throwing system 1000 keeps the target flight speed to fly along the flight direction at the target height.

[0125] The application embodiment further provides a computer readable storage medium, which stores computer instructions and programs, and the computer instructions and programs execute the flight seedling throwing control method of the above-mentioned embodiment when being read and run. The storage medium can include memory, flash memory, register or combination thereof.

[0126] To sum up, the embodiment of the application provides a flying seedling throwing system control method, a storage medium and a flying seedling throwing system. 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-back positional relationship in a flying direction. The first seedling throwing mechanism comprises a first seedling taking module, and 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. The flying seedling throwing system control method comprises: controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operation. By controlling the first seedling throwing mechanism and the second seedling throwing mechanism to have a seedling throwing time difference, the first seedling throwing mechanism and the second seedling throwing mechanism can be made to have a corresponding landing plant distance consistent with a target plant distance in the case of improving the efficiency of seedling throwing operation, thereby guaranteeing the standardization of operation.

[0127] The above only describes the preferred embodiments of the application and is not intended to limit the application. The application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

[0128] It is obvious for those skilled in the art that the application is not limited to the details of the above exemplary embodiments, and the application can be implemented in other specific forms without departing from the spirit or essential characteristics of the application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the application. Any reference signs in the claims should not be regarded as limiting the claims.

Claims

1. A flying seedling throwing system control method, characterized by, 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-back positional relationship in a 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: Controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operation, wherein the first seedling throwing mechanism and the second seedling throwing mechanism have a seedling throwing time difference, so that the corresponding landing plant distance of the first seedling throwing mechanism and the second seedling throwing mechanism is consistent with a target plant distance.

2. The flying dibble system control method according to claim 1, wherein Controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operation, comprising: Controlling the first seedling taking module and the second seedling taking module to rotate at a target rotating speed, and controlling the rotating angle difference between the first seedling taking module and the second seedling taking module to be the same as a target angle difference, the target angle difference being determined based on the seedling throwing time difference.

3. The flying dibble system control method according to claim 2, wherein The target angle difference is an angle rotated through a time length corresponding to the seedling throwing time difference at the target rotating speed.

4. The flying dibble system control method of claim 1, wherein, Controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operation, comprising: Based on a synchronous landing plant distance, the target plant distance and a target flying speed, obtaining the seedling throwing time difference of the first seedling throwing mechanism and the second seedling throwing mechanism; Wherein the synchronous landing plant distance represents the distance between seedlings after the seedlings fall to the ground when the first seedling throwing mechanism and the second seedling throwing mechanism perform synchronous seedling throwing; Controlling the first seedling throwing mechanism and the second seedling throwing mechanism to perform seedling throwing operation according to the seedling throwing time difference.

5. The flying dibble system control method according to claim 4, wherein Based on a synchronous landing plant distance, the target plant distance and a target flying speed, obtaining the seedling throwing time difference of the first seedling throwing mechanism and the second seedling throwing mechanism, comprising: Obtaining the distance difference between the synchronous landing plant distance and the target plant distance; Based on the distance difference and the target flying speed, determining the seedling throwing time difference of the first seedling throwing mechanism and the second seedling throwing mechanism.

6. The flying dibble system control method of claim 4, wherein, The method further comprises: Based on the target flying speed and a target height, determining the synchronous landing plant distance.

7. The flying dibble system control method according to claim 6, wherein Based on the target flying speed and the target height, determining the synchronous landing plant distance, comprising: Based on the target flying speed and the target height, matching in a mapping relationship table to determine the synchronous landing plant distance; Wherein the mapping relationship table contains the mapping relationship between the combination of the target flying speed and the target height and the synchronous landing plant distance.

8. The flying dibble system control method of claim 4, wherein, The first seedling throwing mechanism is arranged in front of 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, comprising: When the synchronous landing plant distance is greater than the target plant distance, the second seedling throwing mechanism performs seedling throwing after the first seedling throwing mechanism performs seedling throwing, with a lag of a time length corresponding to the seedling throwing time difference.

9. The flying dibble system control method of claim 4, wherein, The first seedling throwing mechanism is arranged in front of 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, comprising: When the synchronous landing plant distance is less than the target plant distance, the first throwing mechanism throws seedlings after a time lag of the throwing time difference.

10. The flying dibble system control method of claim 1, wherein, The first seedling taking module and the second seedling taking module each include a driving source and a cutter head, the driving source being connected with the cutter head for driving the cutter head to separate the blanket seedlings on the seedling feeding module in the rotation process and throw out the separated seedlings.

11. The flying dibble system control method of claim 1, wherein, The landing plant distance corresponding to the seedling throwing of the first throwing mechanism and the landing plant distance corresponding to the seedling throwing of the second throwing mechanism are equal to twice the target plant distance.

12. The flying dibble system control method according to any one of claims 1 to 11, wherein The flying seedling throwing system keeps the target flying speed to fly along the flying direction at the target height.

13. A flying dibble system characterized by, Comprise: A load module, the load module is used to set up in unmanned plane; First throwing mechanism and second throwing mechanism, the first throwing mechanism and the second throwing mechanism are all set up in the load module, and have the position relation of front and back in the flying direction, the first throwing mechanism includes first seedling feeding module and first seedling taking module, the second throwing mechanism includes second seedling feeding module and second seedling taking module, the first seedling feeding module and the second seedling feeding module are used to transport blanket seedlings, the first seedling taking module and the second seedling taking module are used to throw out after separating seedlings from blanket seedlings, and are used for the throwing operation of the same seedling row; Control module, the control module is connected with the first throwing mechanism, the second throwing mechanism, the control module is used to control the first throwing mechanism and the second throwing mechanism to carry out throwing operation, and the first throwing mechanism and the second throwing mechanism exist throwing time difference, to make the landing plant distance corresponding to the first throwing mechanism and the second throwing mechanism and target plant distance consistent.

14. The flight planter system of any one of claims 13, wherein, The control module is also used to execute the flying seedling throwing system control method as claimed in any one of claims 2-12.

15. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the method as claimed in any one of claims 1-12.

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