Seedling throwing mechanism, agricultural unmanned aerial vehicle and seedling throwing method

Abstract

The embodiment of the invention provides a seedling slinging mechanism, a seedling slinging system and a seedling slinging method, and relates to the field of agricultural automation. When the seedling slinging mechanism performs seedling slinging operation, the driving source can drive the ejection piece to move, so that the ejection piece pushes out seedlings. When the actual rotating speed of the driving source exceeds the preset rotating speed, if the ejection piece is driven to store the elastic potential energy on the basis of the high rotating speed, the load of the driving source is too large; the actual rotating speed of the driving source is obtained through the control module, the actual rotating speed is compared with the preset rotating speed, and when the actual rotating speed is smaller, the driving source can drive the ejection part to do work to achieve the throwing operation of seedlings; when the actual rotating speed exceeds or reaches the preset rotating speed, the control module can control the locking piece to lock the ejection piece, and therefore the situation that the service life is affected due to the fact that the load of the driving source is too large is prevented.

Description

Technical Field

[0001] The present invention relates to the field of agricultural automation, and in particular to a seedling throwing mechanism, an agricultural drone and a seedling throwing method. Background Art

[0002] For mechanized rice planting, the rice seedling throwing mechanism is usually used for automated operation. In order to ensure the appropriate spacing of rice plants, when the movement speed of the rice seedling throwing mechanism is too fast, the speed of the driving source will also increase. When the driving source runs at a high speed, it also drives the ejection part to do work, resulting in excessive load on the driving source, which affects the service life. Summary of the invention

[0003] The present invention provides a seedling throwing mechanism, a seedling throwing system and a seedling throwing method, which can lock an ejection part when the rotation speed of a driving source is too fast to prevent the driving source from being overloaded and affecting the service life.

[0004] The embodiments of the present invention can be implemented as follows:

[0005] An embodiment of the present invention provides a seedling throwing mechanism, which comprises:

[0006] A load module, the load module is used to be set on the UAV;

[0007] A seedling delivery module, which is arranged on the load module and is used for delivering blanket seedlings;

[0008] The seedling taking module is arranged on the load module, and comprises 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 blanket seedlings on the seedling delivery module and throw out the separated seedlings. The cutter head is provided with an ejection member and a locking member, and the locking member is used to unlock or lock the ejection member.

[0009] The control module is electrically connected to the locking member and is used to obtain the actual rotational speed of the driving source and compare the actual rotational speed with the preset rotational speed. If the actual rotational speed is greater than or equal to the preset rotational speed, the locking member is controlled to lock the ejection member; if the actual rotational speed is less than the preset rotational speed, the locking member is controlled to unlock the ejection member.

[0010] Optionally, when the locking member locks the ejection member, the seedling taking module throws the seedlings out by centrifugal force; when the locking member unlocks the ejection member, the seedling taking module ejects the seedlings out by the ejection member.

[0011] Optionally, the locking member includes a locking power source and a locking actuator rod, the locking power source is electrically connected to the control module, the locking power source and the locking actuator rod are both connected to the ejection member, and the locking actuator rod is used to lock or unlock the ejection member.

[0012] Optionally, the locking power source is a coil, and the locking actuator rod is an electromagnet;

[0013] The electromagnet is used to lock the ejector when the coil is energized, or the electromagnet is used to unlock the ejector when the coil is de-energized.

[0014] Optionally, the cutter head is provided with a cam member, which rotates relative to the ejection member, and the cam member is used to resist or disengage from the ejection member so that the ejection member stores elastic potential energy or releases elastic potential energy.

[0015] Optionally, the ejection member includes a shell, a seedling pushing connecting rod and a spring, the shell is connected to the driving source, the seedling pushing connecting rod is rotatably connected to the inner cavity of the shell, two ends of the spring are respectively connected to the shell and the seedling pushing connecting rod, and the cam member is used to resist or disengage from the seedling pushing connecting rod to compress or relax the spring;

[0016] The locking member is used to unlock the seedling pushing rod so that the seedling pushing rod pushes out the seedlings; or, the locking member is used to lock the seedling pushing rod so that the seedlings are thrown out by centrifugal force.

[0017] Optionally, the seedling pushing connecting rod comprises a first supporting rod, a second supporting rod, and a third supporting rod connected in sequence, the first supporting rod is rotatably connected to the housing, the cam member is used to resist or disengage from the first supporting rod, the spring is connected to the first supporting rod, and both ends of the second supporting rod are rotatably connected to the first supporting rod and the third supporting rod at the same time;

[0018] The locking member unlocks the third support rod so that the third support rod pushes out the seedlings; or, the locking member is used to lock the third support rod so that the seedlings are thrown out by centrifugal force.

[0019] Optionally, the spring is arranged in parallel with the third support rod.

[0020] Optionally, the seedling-pushing connecting rod is provided with a limiting portion cooperating with the locking member, and when the locking member cooperates with the limiting portion, the cam member abuts against the seedling-pushing connecting rod.

[0021] Optionally, the cutter head is provided with a seedling taking needle, which is connected to the ejection member, and the seedling taking needle is used to separate the seedlings from the blanket seedlings, and the ejection member is used to push the seedlings out of the seedling taking needle during the release of elastic potential energy.

[0022] Optionally, the seedling throwing mechanism further comprises a guide block, which is connected to the ejection member and slidably cooperates with the seedling taking needle.

[0023] An embodiment of the present invention further provides a seedling throwing system, comprising a drone and the above-mentioned seedling throwing mechanism; the drone is connected to a load module of the seedling throwing mechanism.

[0024] The embodiment of the present invention further provides a seedling throwing method, which is implemented by using the above-mentioned seedling throwing mechanism. The seedling throwing method comprises:

[0025] Obtaining the actual rotation speed of the driving source;

[0026] Compare the actual speed with the preset speed;

[0027] If the actual speed is greater than the preset speed, the locking member is controlled to lock the ejection member; if the actual speed is less than or equal to the preset speed, the locking member is controlled to unlock the ejection member.

[0028] The beneficial effects of the seedling throwing mechanism, seedling throwing system and seedling throwing method of the embodiments of the present invention include, for example:

[0029] When the seedling throwing mechanism is performing the seedling throwing operation, the driving source can drive the ejection part to move, so that the ejection part pushes out the seedlings. When the actual rotation speed of the driving source exceeds the preset rotation speed, if the ejection part is driven to reserve elastic potential energy on the basis of the high rotation speed, the load on the driving source will be too large; the actual rotation speed of the driving source is obtained through the control module, and the actual rotation speed is compared with the preset rotation speed. When the actual rotation speed is smaller, the driving source can drive the ejection part to do work to realize the seedling throwing operation; when the actual rotation speed exceeds or reaches the preset rotation speed, the control module can control the locking part to lock the ejection part, thereby preventing the driving source from being overloaded and affecting the service life.

[0030] The agricultural seedling throwing system comprises a seedling throwing mechanism, which has all the functions of a seedling throwing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A structural diagram of a seedling throwing system provided in one embodiment of the present invention;

[0033] Figure 2 A structural diagram of a seedling throwing mechanism provided by an embodiment of the present invention from a first viewing angle;

[0034] Figure 3 A structural diagram of a seedling throwing mechanism provided by an embodiment of the present invention from a second viewing angle;

[0035] Figure 4 A structural diagram of a seedling throwing system provided by another embodiment of the present invention from a first viewing angle;

[0036] Figure 5 A structural diagram of a seedling throwing system provided by another embodiment of the present invention from a second viewing angle;

[0037] Figure 6 A structural diagram of a locking member in a state where the ejection member is unlocked provided by an embodiment of the present invention;

[0038] Figure 7 This is a structural diagram of a locking member locking an ejection member according to an embodiment of the present invention.

[0039] Icons: 1000-seedling throwing system; 100-seedling throwing mechanism; 10-load module; 20-seedling sending module; 21-seedling supporting plate; 211-opening; 212-slide rail; 22-seedling sending plate; 23-driving device; 232-gear; 233-rack; 24-conveying device; 25-seedling pressing device; 251-rotating shaft; 252-pressing bar; 30-seedling taking module; 31-driving source; 32-transmission box; 33-cutter head; 331-installation part; 332-cutter body, 333-notch; 340 - ejection part; 341- shell; 342- seedling pushing rod; 3421- first support rod; 3422- second support rod; 3423- third support rod; 343- spring; 344- limit part; 350- locking part; 351- locking power source; 352- locking execution rod; 360- cam part; 370- seedling taking needle; 380- guide block; 40- support module; 43- first bracket; 46- second bracket; 47- third bracket; 200- drone; 300- blanket seedling; 310- seedling. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0044] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0045] The terms "comprises," "comprising," or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0046] Unless otherwise clearly specified and limited, the terms "disposed", "connected" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0048] As the background technology, for mechanized rice planting, the rice seedling throwing mechanism is usually used for automated operation on the market. In order to ensure the appropriate spacing of the rice, when the moving speed of the rice seedling throwing mechanism is too fast, the speed of the driving source will also increase. When the driving source runs at a high speed, it also drives the ejection part to do work, resulting in excessive load on the driving source, which affects the service life.

[0049] Please refer to Figure 1-Figure 7 The seedling throwing mechanism 100, the seedling throwing system 1000 and the seedling throwing method provided in the embodiments of the present invention can solve the above problems, which will be described in detail below.

[0050] Please refer to Figure 1 and Figure 2The seedling throwing system 1000 includes a drone 200 and at least one set of seedling throwing mechanism 100, which is mounted 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 achieve the seedling throwing operation. At the same time, the flying seedling throwing operation is achieved in conjunction with the flight of the drone 200.

[0051] There are many ways for the seedling throwing mechanism 100 to throw the seedlings 310. In one embodiment, after the seedling throwing mechanism 100 separates the seedlings 310 from the seedling blanket 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 seedling blanket 300, the separated seedlings 310 can be ejected and thrown out by an ejection force (the seedling throwing mechanism 100 can be provided with an ejection member 340, and the ejection member 340 can provide an ejection force). In one embodiment, the seedling throwing mechanism 100 can use the combined action of centrifugal force and ejection force to throw out the separated seedlings 310.

[0052] The seedling throwing mechanism 100 includes a load module 10, a seedling delivery module 20 and a seedling retrieval module 30. The load module 10 is used to be set on the drone 200. The seedling delivery module 20 is set on the load module 10, and the seedling delivery module 20 is used to transport the blanket seedlings 300. The seedling retrieval module 30 is set on the load module 10, and the seedling retrieval module 30 is used to separate the seedlings 310 from the blanket seedlings 300 on the seedling delivery module 20 and then throw them out through centrifugal force and / or ejection force. In this way, the drone 200 can carry the seedling throwing mechanism 100 to perform the seedling throwing operation, and the blanket seedlings 300 are transported by the seedling delivery module 20, and the seedling retrieval module 30 separates the blanket seedlings 300 and then throws the seedlings 310, so as to realize the flying seedling throwing operation of the blanket seedlings 300.

[0053] 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 method is not limited.

[0054] In this embodiment, the drone 200 is a rotor structure, specifically a quad-rotor structure. Of course, it can also be a single-rotor structure, a dual-rotor structure, a six-rotor structure, an eight-rotor structure, etc. The drone 200 can automatically operate according to a preset path, flight speed, attitude, etc., or the operator can manually control it. For ease of description, the drawings show the front, back, left, right, up, and down directions, which are all relative positional relationships that can be clearly known to those skilled in the art when the drone 200 is placed normally or flying.

[0055] Figure 1What is shown is a split-type seedling throwing system 1000. Specifically, the load module 10 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 split design with the seedling throwing mechanism 100. In other words, this type of seedling throwing mechanism 100 is an independent structure that does not rely on the fuselage frame of the drone 200. Based on this type, the corresponding device can be replaced according to actual operation requirements in a specific operation scene. For example, after the seedling throwing mechanism 100 is disassembled, a sowing device is installed to achieve the sowing of pesticides, fertilizers, seeds, etc. Similarly, the seedling throwing mechanism 100 can be disassembled and agricultural operation mechanisms such as surveying and mapping devices and spraying devices can be installed.

[0056] Please refer to Figure 2 and Figure 3 , each module of the seedling throwing mechanism 100 will be described in detail below.

[0057] Specifically, the seedling removal module 30 includes a driving source 31 and a cutter head 33. The driving source 31 is connected to the cutter head 33 to drive the cutter head 33 to separate the seedlings 300 on the seedling delivery module 20, and to eject the separated seedlings 310 by centrifugal force or ejection force. Generally, the driving source 31 is a motor, which drives the cutter head 33 along the Figure 3 The cutter head 33 rotates in the direction indicated by the arrow A, thereby separating the seedling blanket 300 during the contact process. The separated seedling 310 follows the cutter head 33 to rotate in the direction of the arrow A. When the cutter head 33 rotates to a specific position, the seedling 310 is ejected under the action of the centrifugal force or the ejection force. The cutter head 33 may be provided with an ejection member 340, which can complete energy storage and energy release through the cam member 360 during the rotation of the cutter head 33. When the ejection member 340 releases energy, the seedling 310 is ejected under the ejection force provided by the ejection member 340.

[0058] It should be noted that the cutter head 33 can be directly mounted on the output shaft of the driving source 31, and the driving source 31 directly drives the cutter head 33 to rotate, or the cutter head 33 can be rotatably mounted on the load module 10, and the driving source 31 is mounted on the load module 10, and connected to the cutter head 33 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force. Of course, the driving source 31 can also be other than a motor, for example, a pneumatic motor, a gasoline engine, etc.

[0059] In order to facilitate the throwing of the rice seedlings 310, Figure 4In this embodiment, the cutter head 33 includes a mounting portion 331 and a cutter body 332 disposed on the mounting portion 331. The mounting portion 331 is connected to the driving source 31. A notch 333 is formed on the cutter body 332. The notch 333 is used to hold the seedling 310 after the cutter body 332 separates the seedling 310, so that the seedling 310 rotates with it and is thrown out under the action of centrifugal force or ejection force. It can be understood that during the specific operation, the notch 333 on the cutter body 332 will hold the soil at the root of the seedling 310, and then drive it to rotate during the rotation process, so as to throw it out.

[0060] In addition, the blade head 33 may be provided with a seedling removal needle 370 for separating the seedlings 310 from the seedling blanket 300 , so that the blade body 332 , the mounting portion 331 and the notch 333 are provided on the seedling removal needle 370 .

[0061] Combination Figure 2 and Figure 3 In this embodiment, the seedling removal module 30 further includes a transmission box 32, the driving 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 arranged with at least one cutter head 33, and the transmission box 32 can give a specific motion trajectory to the cutter head 33. In this embodiment, the motion trajectory of the cutter head 33 is circular.

[0062] In order to improve the efficiency of removing seedlings, the rotation speed of the cutter head 33 is usually increased. Of course, too fast a speed may cause other problems such as heat dissipation and unstable separation. In order to solve this problem, in this embodiment, at least two cutter heads 33 are arranged on each transmission box 32, thereby expanding the number of cutter heads 33 at the same separation and throwing position.

[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 angles of the two cutter heads 33 to the center of the transmission box 32 may be distributed at 180 degrees, three cutter heads 33 may be spaced 120 degrees apart, and four cutter heads 33 may be spaced 90 degrees apart. In other words, the cutter heads 33 may be arranged in a uniform distribution. Of course, it is not excluded that the cutter heads 33 may be arranged in an uneven distribution in a certain scenario.

[0064] A larger number of blades 33 are designed on the transmission box 32 to improve the efficiency of picking up the seedlings. In addition, in terms of installation, the transmission box 32 can be directly installed on the output shaft of the driving source 31, or the transmission box 32 can be rotatably installed on the load module 10, the driving source 31 is installed on the load module 10, and is connected to the transmission box 32 through a transmission mechanism, such as (gear box, connecting rod mechanism, sprocket mechanism, pulley mechanism) to provide driving force.

[0065] On the other hand, the efficiency of the seedling throwing operation can also be improved by increasing the number of seedling delivery modules 20. Figure 3 In this embodiment, there are multiple seedling delivery modules 20 , and there are multiple seedling taking modules 30 , which correspond one to one with the multiple seedling delivery modules 20 .

[0066] 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 work synchronously by a control device arranged on the load module 10, or by the flight control of the drone 200. Of course, it is not ruled out that multiple seedling delivery modules 20 work 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.

[0067] In order to achieve the separation and throwing of the blanket seedlings 300 row by row and bunch by bunch, in this embodiment, the seedling delivery module 20 includes a seedling supporting plate 21 and a seedling delivery tray 22. The seedling supporting plate 21 is arranged on the load module 10. The seedling supporting plate 21 is provided with an opening 211. The seedling delivery tray 22 is used to transport the blanket seedlings 300. The lower part of the seedling delivery tray 22 is located in the seedling supporting plate 21. The seedling delivery tray 22 can move laterally relative to the seedling supporting plate 21. Among them, the seedling taking module 30 is used to separate the blanket seedlings 300 through the opening 211 and throw out the separated seedlings 310.

[0068] In other words, the positions of the seedling taking module 30, the opening 211 of the seedling supporting plate 21, etc. remain unchanged relative to the load module 10, and the seedling delivery tray 22 can reciprocate in the left and right directions. In this way, the seedling taking module 30 only separates the blanket seedlings 300 exposed in the opening 211, so that the blanket seedlings 300 can be separated and thrown row by row and bunch by bunch. Of course, in other embodiments, the position of the seedling delivery tray 22 relative to the load module 10 can also remain unchanged, while the seedling supporting plate 21 and the seedling taking module 30 can move horizontally in the left and right directions.

[0069] In this embodiment, the seedling support plate 21 can be understood as a long plate-like structure with an opening 211. The seedling support plate 21 is relatively fixed to the load module 10 and does not move with the left and right reciprocating motion of the seedling delivery tray 22. The seedling support plate 21 has a certain supporting effect on the seedling delivery tray 22. Figure 4In this embodiment, the number of the seedling taking modules 30 is three and they are distributed at intervals. Therefore, the number of the openings 211 is also three and they are distributed at corresponding intervals, so that each seedling taking module 30 can separate and throw the blanket seedlings 300 in the corresponding opening 211.

[0070] In order to facilitate the lateral movement of the seedling delivery tray 22 , in this embodiment, the seedling delivery module 20 further includes a driving device 23 , which is disposed on the load module 10 and is used to drive the seedling delivery tray 22 to move laterally relative to the seedling supporting plate 21 .

[0071] Generally, the driving device 23 can use a motor with a gear 232 and a rack 233 mechanism to realize the left and right reciprocating movement of the seedling tray 22, or a motor with a screw mechanism or a synchronous belt. Of course, it is not excluded to use the rotor power of the drone 200 to drive the seedling tray 22 to move left and right.

[0072] Combination Figure 3 Generally, the seedling delivery tray 22 is set to be placed in an inclined state. This design allows the seedling blanket 300 to move downward under the action of gravity after the seedling delivery tray 22 moves horizontally once, so that the seedling removal module 30 can carry out the next round of seedling removal. Of course, a power source can also be set to drive it, for example, in combination with Figure 3 In this embodiment, the seedling delivery module 20 further includes a conveying device 24 , which is disposed on the seedling delivery tray 22 , and is used to drive the seedling blanket 300 to move toward the seedling supporting plate 21 .

[0073] The conveying device 24 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel). In addition, the conveying device 24 can be set at different positions in the height direction of the seedling delivery tray 22. It should be noted that the inclined setting of the seedling delivery tray 22 can also achieve effective utilization of the longitudinal space to reduce the space occupied by the seedling delivery tray 22 in the horizontal width. At the same time, due to the inclined setting, the blanket seedlings 300 can use their gravity to slide down, and the power consumption of the conveying device 24 can also be reduced.

[0074] In addition, considering the possible separation of the blanket seedling 300 after being placed on the seedling delivery tray 22, combined with Figure 2 and Figure 3 In this embodiment, the seedling delivery module 20 further includes a seedling pressing device 25, which is disposed on the seedling delivery tray 22, and is used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22. The seedling pressing device 25 can be in the form of a plate or a rod, etc. Specifically, in this embodiment, the seedling pressing device 25 includes a rotating shaft 251 and a plurality of pressure strips 252, the rotating shaft 251 is rotatably disposed horizontally on the seedling delivery tray 22, and the plurality of pressure strips 252 are vertically and spaced apart from the rotating shaft 251, and the plurality of pressure strips 252 are used to limit the position of the blanket seedlings 300 in the seedling delivery tray 22.

[0075] In this embodiment, in a specific scenario, the rotating shaft 251 can rotate relative to the seedling delivery tray 22 with a certain damping, so the force of the pressure bar 252 on the blanket seedling 300 can be adjusted, and the pressure state can be maintained. Of course, a torsion spring can also be installed on the rotating shaft 251 to provide pressure to rotate in the direction of the blanket seedling 300.

[0076] Combination Figure 3 In this embodiment, the seedling delivery tray 22 is a rectangular frame structure, specifically, it includes a load-bearing plate and two baffles arranged on the left and right edges of the load-bearing plate, and no baffles are arranged above or below it, so that an upper opening 211 is formed at the top to facilitate placing the seedlings, and a lower opening 211 is formed at the bottom to facilitate taking the seedlings. The width of the seedling delivery tray 22 can match the width of a tray of seedling blankets 300. In addition, the height of the seedling delivery tray 22 is not limited to the height of a tray of seedling blankets 300. During installation, the two ends of the rotating shaft 251 can be rotatably arranged on the two baffles of the seedling delivery tray 22, respectively. Figure 4 In the embodiment, four pressure strips 252 are correspondingly arranged on a rotating shaft 251. In other words, four pressure strips 252 are distributed on a seedling delivery tray 22 to limit the blanket seedlings 300 in the seedling delivery tray 22, so that the blanket seedlings 300 can be pressed on the seedling delivery tray 22 by the pressure strips 252, which greatly ensures that the blanket seedlings 300 will not be blown away during the flight of the drone 200. Of course, the number of pressure strips 252 corresponding to a seedling delivery tray 22 may not be limited to four, for example, it may also be three, five or more. In addition, since in the present embodiment, the number of seedling delivery modules 20 is multiple, the number of seedling pressing devices 25 may also be multiple, and each seedling delivery tray 22 is correspondingly provided with a seedling pressing device 25. In a certain scenario, multiple seedling pressing devices 25 located in the same seedling throwing mechanism 100 may share a rotating shaft 251.

[0077] In addition, combined Figure 3 In this embodiment, the seedling delivery tray 22 is supported at multiple positions in the height direction by the load module 10. For example, in this embodiment, the seedling throwing mechanism 100 further includes a support module 40, for example, the support module 40 includes a first bracket 43, one end of the first bracket 43 is connected to the load module 10, and the other end of the first bracket 43 supports the upper part of the seedling delivery tray 22. Figure 3 and Figure 4 Since the seedling delivery tray 22 needs to move horizontally, in order to facilitate support, the support position of the first bracket 43 and the seedling delivery tray 22 can be supported horizontally by the cooperation of the slide rail 212 and the pulley. For example, the end of the first bracket 43 is provided with a pulley, and the seedling delivery tray 22 is provided with a slide rail 212, and the two are rollingly matched. Alternatively, the end of the first bracket 43 is provided with a slide rail 212, and the seedling delivery tray 22 is provided with a pulley. In addition, in some scenarios, the height of the first bracket 43 is adjustable, and the inclination angle of the seedling delivery tray 22 can also be adjusted.

[0078] At the same time, the lower part of the seedling delivery tray 22 is supported by the seedling support plate 21 to improve the overall compactness of the structure. Of course, the middle part of the seedling delivery tray 22 can also be supported by the load module 10. It should be noted here that the upper part is only to indicate that the position of the support is higher than the middle and lower parts in the height direction.

[0079] Of course, the support module 40 may also include a second bracket 46 and a third bracket 47. One end of the second bracket 46 is connected to the load module 10, and the other end of the second bracket 46 is installed with the above-mentioned seedling support plate 21. One end of the third bracket 47 is connected to the load module 10, and the other end of the third bracket 47 is installed with the above-mentioned seedling removal module 30 (specifically, the driving source 31). Of course, the second bracket 46 and the third bracket 47 may also be a bracket structure, that is, the seedling support plate 21 and the seedling removal module 30 are installed on the load module 10 through the same bracket.

[0080] 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 10, 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.

[0081] Figure 4 and Figure 5 Another embodiment of the seedling throwing system 1000 is shown, wherein the description of the same modules, mechanisms or components can refer to the above text. In this embodiment, the seedling throwing system 1000 is a double system, that is, it has two sets of seedling throwing mechanisms 100, and the two seedling throwing mechanisms 100 share a load module 10. The two sets of seedling throwing mechanisms 100 are arranged back to back. Of course, in other embodiments, the two sets of seedling throwing mechanisms 100 can also be arranged in other ways (for example, arranged in the same direction), or three, four or more sets of seedling throwing mechanisms 100 can be arranged.

[0082] According to a seedling throwing system 1000 provided in this embodiment, the working principle of the seedling throwing system 1000 is as follows:

[0083] When the drone 200 is flying, the driving source 31 drives the transmission box 32 to rotate, and the transmission box 32 drives the cutter head 33 to achieve high-speed rotation. When the cutter head 33 rotates to the opening 211, it separates and removes the rice seedlings 310, drives the rice seedlings 310 to rotate, and when the rice seedlings 310 rotate to a certain angle, the rice seedlings 310 are thrown out and fall into the field under the action of centrifugal force and / or ejection force, thereby realizing the flying and throwing of the blanket seedlings 300. At the same time, the rice seedling delivery tray 22 moves horizontally, driving the blanket seedlings 300 to move left and right, so that the blanket seedlings 300 are separated and thrown row by row. After a row of rice seedlings 310 in the left and right directions of the blanket seedlings 300 is separated, the entire blanket seedlings 300 moves downward under the action of gravity and the driving force of the conveying device 24, so that in the process of the rice seedling delivery tray 22 moving horizontally again, it is separated and thrown row by ...

[0084] refer to Figure 1-Figure 7 The seedling throwing mechanism 100 includes a load module 10, a seedling delivery module 20, a sampling module and a control module. The load module 10 is used to be set on the drone 200; the seedling delivery module 20 is set on the load module 10, and the seedling delivery module 20 is used to transport the blanket seedlings 300; the seedling taking module 30 is set on the load module 10, including 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 blanket seedlings 300 on the seedling delivery module 20, and throw out the separated seedlings 310, the cutter head 33 is provided with an ejection member 340 and a locking member 350, and the locking member 350 is used to unlock or lock the ejection member 340; the locking member 350 is electrically connected to the locking member 350, and is used to obtain the actual rotation speed of the driving source 31, and compare the actual rotation speed with the preset rotation speed. If the actual rotation speed is greater than or equal to the preset rotation speed, the locking member 350 is controlled to lock the ejection member 340, and if the actual rotation speed is less than the preset rotation speed, the locking member 350 is controlled to unlock the ejection member 340.

[0085] The seedling throwing mechanism 100 can drive the ejection member 340 to move when performing the seedling throwing operation. The ejection member 340 can be pushed out of the seedling 310 by the driving source 31. When the actual rotation speed of the driving source 31 exceeds the preset rotation speed, if the ejection member 340 is driven to store elastic potential energy on the basis of the high rotation speed, the load on the driving source 31 will be too large; the actual rotation speed of the driving source 31 is obtained through the control module, and the actual rotation speed is compared with the preset rotation speed. When the actual rotation speed is smaller, the driving source 31 can drive the ejection member 340 to do work to realize the throwing operation of the seedling 310; when the actual rotation speed exceeds or reaches the preset rotation speed, the control module can control the locking member 350 to lock the ejection member 340, thereby preventing the driving source 31 from being overloaded and affecting the service life.

[0086] It is worth noting that the control module can be a module of the seedling throwing mechanism 100, or an integrated module installed on the drone 200 and controlling both the seedling throwing operation of the seedling throwing mechanism 100 and the flight operation of the drone 200. In addition, the electrical connection can be a wireless connection or a wired connection, and the specific connection method is not limited and can be adaptively adjusted according to different application scenarios.

[0087] Furthermore, when the locking member 350 locks the ejection member 340 , the seedling taking module 30 throws out the seedling 310 through centrifugal force; and when the locking member 350 unlocks the ejection member 340 , the seedling taking module 30 ejects the seedling 310 through the ejection member 340 .

[0088] It is worth noting that in order to make the thrown seedlings 310 meet the required spacing, the rotation speed of the driving source 31 is linked to the flight speed of the drone 200. When the flight speed of the drone 200 decreases during the seedling throwing process, the rotation speed of the driving source 31 also decreases accordingly; when the flight speed of the drone 200 increases, the rotation speed of the driving source 31 also increases accordingly.

[0089] For example, when the seedling spacing is set to 20cm, when the flight speed of the drone 200 reaches 4m / s, the rotation speed of the drive source 31 needs to reach 3600rpm to meet the spacing. The flight of the drone 200 on a straight line can be divided into an acceleration section, a uniform speed section, and a deceleration section. The acceleration is from 0m / s to 4m / s, the uniform speed section maintains 4m / s, and the deceleration section decelerates from 4m / s to 0m / s (it may not necessarily decelerate to 0m / s, but deceleration is generally required for turning around). Correspondingly, the rotation speed of the drive source 31 is maintained at 3600rpm only in the uniform speed section, and the rotation speed in the acceleration section and the deceleration section will adapt to the change in flight speed.

[0090] refer to Figure 3 , Figure 6 and Figure 7 The seedling throwing mechanism 100 also includes a cam member 360, which is connected to the transmission box 32. The cam member 360 rotates relative to the ejection member 340. The cam member 360 is used to resist or disengage from the ejection member 340 so that the ejection member 340 can store or release elastic potential energy.

[0091] During the seedling throwing operation, the ejection member 340 and the cam member 360 rotate, and the cam member 360 abuts against the ejection member 340. Under the guidance of the shape of the cam member 360, the ejection member 340 can store elastic potential energy; and when the cam member 360 is separated from the ejection member 340, the elastic potential energy stored in the ejection member 340 is released at the moment of separation, and then the seedling 310 is pushed out to complete the seedling throwing operation. In addition, the relative rotation of the ejection member 340 and the cam member 360 is a periodic motion, and the process of abutting-separating-abutting... is carried out in an orderly manner, so that the seedling throwing process is also carried out in an orderly manner.

[0092] refer to Figure 3 , Figure 6 and Figure 7 The ejection member 340 includes a shell 341, a seedling pushing rod 342 and a spring 343. The shell 341 is connected to the driving source 31 through a transmission box 32, and the seedling pushing rod 342 is connected to the shell 341. The cam member 360 is used to resist or disengage from the seedling pushing rod 342 to compress or relax the spring 343; the locking member 350 is used to unlock the seedling pushing rod 342 so that the seedling pushing rod 342 pushes out the seedling 310; or, the locking member 350 is used to lock the seedling pushing rod 342 so that the seedling 310 is thrown out by centrifugal force.

[0093] Specifically, during the rotational movement, the seedling pushing link 342, the spring 343 and the seedling taking needle 370 rotate synchronously with the housing 341. During the synchronous rotation, the cam member 360 abuts against one end of the seedling pushing link 342, so that the seedling pushing link 342 and the housing 341 also rotate relative to each other, and the spring 343 is compressed through the relative rotation of the two, so as to store elastic potential energy; when one end of the seedling pushing link 342 is separated from the cam member 360, the previously compressed spring 343 releases elastic potential energy and resets, so that the seedling pushing link 342 pushes out the seedling 310 to realize the seedling throwing operation. In addition, during the operation, the housing 341 can also play a certain protective and shielding role for the seedling pushing link 342 and the spring 343.

[0094] Furthermore, the seedling pushing link 342 includes a first support rod 3421, a second support rod 3422, and a third support rod 3423 which are connected in sequence. The first support rod 3421 is rotatably connected to the housing 341. The cam member 360 is used to resist or disengage from the first support rod 3421. The spring 343 is connected to the first support rod 3421. Both ends of the second support rod 3422 are rotatably connected to the first support rod 3421 and the third support rod 3423 at the same time.

[0095] The locking member 350 unlocks the third support rod 3423 so that the third support rod 3423 pushes the rice seedling 310 out; alternatively, the locking member 350 is used to lock the third support rod 3423 so that the rice seedling 310 is ejected by the centrifugal force of the rice seedling removal needle 370 .

[0096] In this embodiment, the spring 343 is connected to the first support rod 3421, and the extension direction of the spring 343 is parallel to the push-out direction of the third support rod 3423. There is a certain angle between the first support rod 3421 and the third support rod 3423, and the extension length of the second support rod 3422 is much smaller than the extension lengths of the first support rod 3421 and the third support rod 3423, so that the relative rotation range between the first support rod 3421 and the third support rod 3423 is limited, thereby avoiding collision with the main arm due to excessive rotation range.

[0097] refer to Figure 6 and Figure 7 The seedling throwing mechanism 100 further includes a guide block 380, which is connected to the ejection member 340, and the guide block 380 is connected to the ejection member 340 and slidably cooperates with the seedling taking needle 370. Specifically, a portion of the guide block 380 is connected to the end of the third support rod 3423, and another portion of the guide block 380 is slidably cooperated with the inner side of the seedling taking needle 370.

[0098] When the third support rod 3423 is telescopically moved under the action of external force, the guide block 380 can guide and limit the third support rod 3423 to ensure that the moving direction of the third support rod 3423 is stable, thereby ensuring the accuracy of the relative position with the seedling 310.

[0099] refer to Figure 6 and Figure 7 The locking member 350 includes a locking power source 351 and a locking actuator rod 352 . The locking power source 351 is electrically connected to the control module. The locking power source 351 and the locking actuator rod 352 are both connected to the ejection member 340 . The locking actuator rod 352 is used to lock or unlock the ejection member 340 .

[0100] Specifically, the locking execution rod 352 is used to lock or unlock the seedling pushing link 342 . More specifically, the unlocking or locking effect can be achieved by the locking execution rod 352 abutting against or disengaging from the third support rod 3423 .

[0101] In this embodiment, the locking power source 351 is a coil, and the locking execution rod 352 is an electromagnet. When the actual rotation speed of the driving source 31 is greater than the preset rotation speed, the locking power source 351 can drive the locking execution rod 352 to perform a locking operation, that is, when the coil is energized, the electromagnet extends to resist the seedling pushing link 342; when the coil is de-energized, the electromagnet retracts and disengages from the seedling pushing link 342.

[0102] It is worth noting that the electromagnet can be a part of the locking execution rod 352, or the entire locking execution rod 352 can be an electromagnet.

[0103] In other embodiments of the present invention, the locking power source 351 may also be a linear power cylinder, specifically a linear air cylinder, a linear electric cylinder or a linear hydraulic cylinder, and its specific power shape is not limited.

[0104] refer to Figure 6 and Figure 7 The ejection member 340 is provided with a limiting portion 344 that cooperates with the locking member 350. Specifically, the limiting portion 344 cooperates with the locking execution rod 352, and the limiting portion 344 is arranged on the third support rod 3423 in the seedling pushing connecting rod 342.

[0105] Furthermore, when the actual rotation speed of the driving source 31 is greater than the preset rotation speed and the cam member 360 abuts against the seedling pushing link 342, the locking actuator rod 352 cooperates with the limiting portion 344. By ensuring that the locking actuator rod 352 cooperates with the limiting portion 344 when the cam member 360 abuts against the seedling pushing link 342, interference between the cam member 360 and the seedling pushing link 342 during the locking cooperation process can be avoided.

[0106] In this embodiment, the limiting portion 344 is a limiting hole, and the limiting hole is provided in the third support rod 3423, so that the end of the locking execution rod 352 can be accommodated in the limiting hole, ensuring the locking stability of the seedling pushing link 342. In addition, the limiting hole and the locking execution rod 352 can be clearance fit, interference fit or transition fit.

[0107] In other embodiments of the present invention, the limiting portion 344 may also be an adsorption member, which may generate an adsorption force with the end of the locking actuator 352, so that the locking actuator 352 can lock the seedling pushing link 342. Specifically, the adsorption member may be convexly provided on the outer wall of the seedling pushing link 342, or may be embedded in the surface wall of the seedling pushing link 342.

[0108] The embodiment of the present invention further provides a seedling throwing method, which is used for the above-mentioned seedling throwing mechanism 100, and comprises the following steps:

[0109] S1: Obtain the actual rotation speed of the driving source 31; during the seedling throwing operation, the rotation speed of the driving source 31 is usually linked to the moving speed of the drone 200. When the flying speed of the drone 200 is too fast, the actual rotation speed of the driving source 31 also increases to ensure that the spacing between the thrown seedlings 310 is stable.

[0110] S2: Compare the actual speed with the preset speed;

[0111] S3: If the actual rotation speed is greater than the preset rotation speed, the locking member 350 is controlled to lock the ejection member 340 so that the seedling 310 is ejected by centrifugal force; if the actual rotation speed is less than or equal to the preset rotation speed, the locking member 350 is controlled to unlock the ejection member 340 so that the ejection member 340 pushes the seedling 310 out.

[0112] Specifically, when the actual speed of the driving source 31 is greater than the preset speed, the locking power source 351 drives the locking execution rod 352 to extend, and cooperates with the limiting hole on the third support rod 3423 in the seedling pushing connecting rod 342 in the ejection member 340, so as to achieve the locking effect on the third support rod 3423. At this time, the ejection member 340 no longer works, and the cam member 360 and the first support rod 3421 will not interfere with each other; because the speed of the driving source 31 is high enough and the centrifugal force is large enough, the seedlings 310 can be separated from the seedling needle 370 under the action of the centrifugal force to achieve the seedling throwing operation. The throwing position of the seedlings 310 under the action of the centrifugal force is the same as the position where the ejection member 340 is ejected, thereby ensuring the consistency of the throwing trajectory of the seedlings 310 during centrifugal throwing and ejection throwing.

[0113] Moreover, when the actual rotation speed of the driving source 31 is less than the preset speed, because the rotation speed of the driving source 31 is low and the centrifugal force is small, the seedlings 310 will not break away from the removing needles 370 before contacting the third support rod 3423, so that the seedlings 310 are thrown out by the pushing action of the third support rod 3423.

[0114] It is worth noting that when the locking member 350 cooperates with the ejection member 340, the cam member 360 abuts against the ejection member 340. Since the cam member 360 abuts against the ejection member 340 only when the driving member drives the ejection member 340 to move to a specific position, the position information of the driving member can be obtained, and when it is determined that the ejection member 340 moves to the area abutting against the cam member 360, the locking member 350 is controlled to lock the ejection member 340.

[0115] In summary, the seedling throwing mechanism 100, the seedling throwing system 1000 and the seedling throwing method provided by the embodiments of the present invention have at least the following advantages:

[0116] The seedling throwing mechanism 100, the seedling throwing system 1000 and the seedling throwing method can enable the ejection member 340 to perform the seedling throwing operation when the rotation speed of the driving source 31 is low, so that the seedlings 310 can be pushed out at a suitable seedling throwing position when the UAV 200 has a low flight speed and the driving source 31 has a low rotation speed; and when the rotation speed of the driving source 31 is high, the ejection member 340 is disabled, so that the driving source 31 does not need to overcome the resistance of the compression spring 343 during the rotation process, the load is not too large, and the rotation is smoother; and the centrifugal force generated by the seedling taking needle 370 during the rotation process is used to throw the seedlings 310, so that the seedlings 310 can be thrown out at a suitable seedling throwing position under the action of pure centrifugal force, and the consistency of the throwing trajectory of the seedlings 310 will not be negatively affected due to the deactivation of the ejection member 340.

[0117] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A seedling throwing mechanism, characterized in that: include: A load module (10), the load module (10) being used to be arranged on the drone (200); A seedling delivery module (20), the seedling delivery module (20) being arranged on the load module (10), and the seedling delivery module (20) being used for delivering blanket seedlings (300); A seedling taking module (30), the seedling taking module (30) being arranged on the load module (10), comprising a driving source (31) and a cutter head (33), the driving source (31) being connected to the cutter head (33) and being used to drive the cutter head (33) to separate the blanket seedlings (300) on the seedling delivery module (20) and eject the separated seedlings (310), the cutter head (33) being provided with an ejection member (340) and a locking member (350), the locking member (350) being used to unlock or lock the ejection member (340); A control module, the control module being electrically connected to the locking member (350), and being used for obtaining an actual rotation speed of the driving source (31), comparing the actual rotation speed with a preset rotation speed, and controlling the locking member (350) to lock the ejection member (340) if the actual rotation speed is greater than or equal to the preset rotation speed, and controlling the locking member (350) to unlock the ejection member (340) if the actual rotation speed is less than the preset rotation speed.

2. The seedling throwing mechanism according to claim 1, characterized in that: When the locking member (350) locks the ejection member (340), the cutter head (33) ejects the rice seedling (310) through centrifugal force; when the locking member (350) unlocks the ejection member (340), the cutter head (33) ejects the rice seedling (310) through the ejection member (340).

3. The seedling throwing mechanism according to claim 2, characterized in that: When the driving source (31) operates at the preset rotation speed, the position where the rice seedling (310) is ejected under the action of centrifugal force is the same as the position where the ejection member (340) is ejected.

4. The seedling throwing mechanism according to any one of claims 1 to 3, characterized in that: The locking member (350) comprises a locking power source (351) and a locking actuating rod (352); the locking power source (351) is electrically connected to the control module; the locking power source (351) and the locking actuating rod (352) are both connected to the ejection member (340); and the locking actuating rod (352) is used to lock or unlock the ejection member (340).

5. The seedling throwing mechanism according to claim 4, characterized in that: The locking power source (351) is a coil, and the locking execution rod (352) is an electromagnet; The electromagnet is used to lock the ejection member (340) when the coil is energized, or the electromagnet is used to unlock the ejection member (340) when the coil is de-energized.

6. The seedling throwing mechanism according to any one of claims 1 to 3, characterized in that: The cutter head (33) is provided with a cam member (360), the cam member (360) rotates relative to the ejection member (340), and the cam member (360) is used to resist or disengage from the ejection member (340) so that the ejection member (340) stores elastic potential energy or releases elastic potential energy.

7. The seedling throwing mechanism according to claim 6, characterized in that: The ejection member (340) comprises a shell (341), a seedling pushing link (342) and a spring (343); the shell (341) is connected to the driving source (31); the seedling pushing link (342) is rotatably connected to the shell (341); two ends of the spring (343) are respectively connected to the shell (341) and the seedling pushing link (342); the cam member (360) is used to resist or disengage from the seedling pushing link (342) so as to compress or relax the spring (343); The locking member (350) is used to unlock the seedling pushing rod (342) so that the seedling pushing rod (342) pushes out the seedling (310); or, the locking member (350) is used to lock the seedling pushing rod (342) so that the seedling (310) is thrown out by centrifugal force.

8. The seedling throwing mechanism according to claim 7, characterized in that: The seedling pushing connecting rod (342) comprises a first supporting rod (3421), a second supporting rod (3422), and a third supporting rod (3423) which are connected in sequence, the first supporting rod (3421) is rotatably connected to the housing (341), the cam member (360) is used to resist or disengage from the first supporting rod (3421), the spring (343) is connected to the first supporting rod (3421), and both ends of the second supporting rod (3422) are rotatably connected to the first supporting rod (3421) and the third supporting rod (3423) at the same time; The locking member (350) unlocks the third support rod (3423) so that the third support rod (3423) pushes the seedling (310); or, the locking member (350) is used to lock the third support rod (3423) so that the seedling (310) is thrown out by centrifugal force.

9. The seedling throwing mechanism according to claim 8, characterized in that: The spring (343) is arranged in parallel with the third support rod (3423).

10. The seedling throwing mechanism according to claim 7, characterized in that: The seedling pushing connecting rod (342) is provided with a limiting portion (344) matched with the locking member (350); when the locking member (350) is matched with the limiting portion (344), the cam member (360) is held against the seedling pushing connecting rod (342).

11. The seedling throwing mechanism according to any one of claims 1 to 3, characterized in that: The blade head (33) is provided with a seedling removal needle (370), the seedling removal needle (370) is connected to the ejection member (340), the seedling removal needle (370) is used to separate the seedling (310) from the blanket seedling (300), and the ejection member (340) is used to push the seedling (310) out of the seedling removal needle (370) during the process of releasing elastic potential energy.

12. The seedling throwing mechanism according to claim 11, characterized in that: The seedling throwing mechanism further comprises a guide block (380), wherein the guide block (380) is connected to the ejection member (340) and is slidably matched with the seedling taking needle (370).

13. A seedling throwing system, characterized in that: It comprises an unmanned aerial vehicle (200) and the rice seedling throwing mechanism according to any one of claims 1 to 12, wherein the unmanned aerial vehicle (200) is connected to a load module (10) of the rice seedling throwing mechanism.

14. A seedling throwing method, characterized in that: The method of throwing rice seedlings is realized by using the rice seedling throwing mechanism according to any one of claims 1 to 12, and the rice seedling throwing method comprises: Obtaining the actual rotation speed of the driving source (31); comparing the actual speed with a preset speed; If the actual rotation speed is greater than the preset rotation speed, the locking member (350) is controlled to lock the ejection member (340); if the actual rotation speed is less than or equal to the preset rotation speed, the locking member (350) is controlled to unlock the ejection member (340).

Images