Seedling throwing control method, seedling throwing mechanism and seedling throwing system

Abstract

The invention discloses a seedling throwing control method, a seedling throwing mechanism and a seedling throwing system, and relates to the technical field of unmanned aerial vehicles, the method is applied to an unmanned aerial vehicle mounted with the seedling throwing mechanism, the seedling throwing mechanism comprises a seedling conveying module and a seedling taking module, the seedling conveying module is used for conveying hole blanket seedlings, and the seedling taking module is used for separating seedlings from the hole blanket seedlings conveyed by the seedling conveying module and then throwing out the seedlings; the method comprises the steps that the hole distance of hole blanket seedlings is obtained; based on the hole distance, determining a first driving parameter of a seedling feeding module and / or a second driving parameter of a seedling taking module; according to the first driving parameter and / or the second driving parameter, the seedling feeding module and / or the seedling taking module are / is controlled, so that the seedling taking module can conduct seedling separation on the connecting part between every two adjacent seedlings of the hole blanket seedlings. Through the technical means, the problem that the unmanned aerial vehicle is only suitable for taking and throwing the same type of hole blanket seedlings is solved, and the applicability of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a seedling throwing control method, a seedling throwing mechanism and a seedling throwing system. Background Art

[0002] With the rapid development of drone technology, it is widely used in various scenarios for high-altitude operations. Especially in agricultural scenarios, some fields are not convenient to operate with ground-based agricultural machinery. For example, in fields with relatively rugged ground such as terraces, drones can be used to carry out high-altitude plant protection for crops planted in such fields. Drones can even carry rice seedling throwers to throw seedlings in the air for planting in the fields.

[0003] The connection between adjacent seedlings of the hole blanket seedlings is relatively weak, and the seedling throwing machine can easily remove the seedlings from the hole blanket seedlings. However, there are different types of hole blanket seedlings, and the hole spacing between adjacent seedlings of different types of hole blanket seedlings is different. The current seedling throwing machine is only suitable for removing and throwing seedlings of the same type of hole blanket seedlings, and has poor applicability. Summary of the invention

[0004] The present application provides a seedling throwing control method, a seedling throwing mechanism and a seedling throwing system, which solves the problem that the seedling throwing mechanism mounted on a drone is only suitable for picking and throwing seedlings of the same type of blanket seedlings, thereby improving the applicability of the drone.

[0005] In a first aspect, the present application provides a seedling throwing control method, which is applied to a drone equipped with a seedling throwing mechanism, wherein the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, wherein the seedling delivery module is used to deliver hole blanket seedlings, and the seedling retrieval module is used to separate the seedlings from the hole blanket seedlings delivered by the seedling delivery module and then throw them out; the method includes:

[0006] Obtaining the hole spacing of the hole blanket seedlings;

[0007] Based on the hole spacing, determining a first driving parameter of the seedling delivery module and / or a second driving parameter of the seedling removal module;

[0008] The seedling delivery module and / or the seedling retrieval module are controlled according to the first driving parameter and / or the second driving parameter, so that the seedling retrieval module can separate the seedlings at the connection part between two adjacent seedlings of the hole blanket seedlings.

[0009] In a second aspect, the present application provides a seedling throwing mechanism mounted on a drone, the seedling throwing mechanism comprising:

[0010] A seedling delivery module, the seedling delivery module is used to deliver the perforated blanket seedlings;

[0011] A seedling taking module, which is used to separate the seedlings from the perforated blanket seedlings transported by the seedling delivery module and then throw them out;

[0012] The control module is configured to execute the rice seedling throwing control method as described in the first aspect.

[0013] In a third aspect, the present application provides a seedling throwing system, including a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism is mounted on the drone, and the seedling throwing mechanism includes a seedling delivery module and a seedling retrieval module, wherein:

[0014] The seedling delivery module is used for delivering the seedlings of the hole blanket;

[0015] The seedling taking module is used to separate the seedlings from the perforated blanket seedlings transported by the seedling delivery module and then throw them out;

[0016] The drone is configured to execute the rice seedling throwing control method as described in the first aspect.

[0017] In the present application, the drone obtains the hole spacing of the hole blanket seedlings loaded by the seedling throwing mechanism during the seedling throwing operation, determines the first driving parameter of the seedling delivery module for delivering the hole blanket seedlings and / or the second driving parameter of the seedling taking module for separating and throwing out the seedlings in the hole blanket seedlings according to the hole spacing of the hole blanket seedlings, and controls the seedling delivery module and / or the seedling taking module according to the first driving parameter and / or the second driving parameter, so that the seedling taking module can separate the seedlings at the connection between two adjacent seedlings in the hole blanket seedlings. Through the above technical means, no matter what type of hole blanket seedlings are loaded on the seedling throwing mechanism of the drone, the drone can adjust the driving parameters of the seedling delivery module and / or the seedling taking module based on the hole spacing of the hole blanket seedlings, so that the seedling delivery module and the seedling taking module cooperate with each other to realize that the seedling taking module can just separate the connection between two adjacent seedlings in the hole blanket seedlings, so as to accurately take one of the seedlings out of the hole blanket seedlings, and the seedling taking module will not damage the seedlings, which solves the problem that the drone is only suitable for taking and throwing seedlings of the same type of hole blanket seedlings, and improves the applicability of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a top view schematic diagram of the hole blanket seedling provided in the embodiment of the present application;

[0019] Figure 2 It is a side view schematic diagram of the hole blanket seedling provided in the embodiment of the present application;

[0020] Figure 3 It is a structural schematic diagram of the seedling throwing system provided in an embodiment of the present application;

[0021] Figure 4 This is one of the structural schematic diagrams of the seedling throwing mechanism provided in the embodiment of the present application;

[0022] Figure 5 This is the second structural schematic diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0023] Figure 6is a flow chart of a rice seedling throwing control method provided in an embodiment of the present application;

[0024] Figure 7 This is the third structural schematic diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0025] Figure 8 This is the fourth structural schematic diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0026] Fig. 9 This is the fifth structural diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0027] Fig.10 This is the sixth structural schematic diagram of the seedling throwing mechanism provided in the embodiment of the present application;

[0028] In the figure, 10, hole blanket seedlings; 11, seedlings; 12, grooves; 20, drones; 30, seedling throwing mechanisms; 31, seedling delivery modules; 311, seedling delivery trays; 312, seedling support plates; 313, openings; 314, conveying devices; 315, driving devices; 32, seedling removal modules; 321, driving sources; 322, cutter heads. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0030] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0031] In a related implementation, Figure 1 It is a top view schematic diagram of the hole blanket seedling provided in the embodiment of the present application. Figure 2 Schematic side view of the hole blanket seedlings provided in the embodiment of the present application. Figure 1 and Figure 2 As shown, a plurality of rice seedlings 11 are planted in the hole blanket seedling 10, and a groove 12 is formed at the connection between two adjacent rice seedlings 11 of the hole blanket seedling 10. Therefore, the connection between two adjacent rice seedlings 11 of the hole blanket seedling 10 is relatively weak, that is, the soil thickness of the connection is thinner than the soil thickness of the seedling root, and the rice seedling throwing machine can easily take the rice seedling 11 out of the hole blanket seedling 10. Therefore, the rice seedling throwing machine carried by the drone 20 is generally used for taking and throwing the seedlings of the hole blanket seedling 10. However, different types of hole blanket seedlings 10 correspond to different planting areas of rice seedlings 11 or different widths of grooves 12, which results in different hole spacings between two adjacent rice seedlings 11 in the hole blanket seedling 10. The hole spacing of the hole blanket seedling 10 will affect the time for the seedling throwing machine to transport two adjacent seedlings 11. If the delivery time of the seedlings 11 and the seedling picking time of the seedling throwing machine do not match, the seedling throwing machine cannot accurately separate the connection between the two adjacent seedlings 11, resulting in the seedling throwing machine being unable to accurately take the seedlings 11 out of the hole blanket seedling 10. The seedling picking consistency is low, which is not conducive to accurate seedling throwing and may even damage the seedlings 11 when taking out the seedlings. Therefore, the seedling throwing mechanism of the drone 20 needs to be suitable for taking and throwing seedlings of various types of hole blanket seedlings 10.

[0032] To solve the above problems, the present embodiment provides a seedling throwing control method, a seedling throwing mechanism 30 and a seedling throwing system, so as to control the seedling throwing mechanism 30 according to the hole spacing of the hole blanket seedlings 10 to accurately take the seedlings 11 out of the hole blanket seedlings 10, so that the drone 20 can perform seedling throwing operations on any type of hole blanket seedlings 10, thereby improving the applicability of the drone 20.

[0033] Figure 3 Schematic diagram of the structure of the seedling throwing system provided in the embodiment of the present application. Figure 3 As shown, the seedling throwing system includes a seedling throwing mechanism 30 and a drone 20 , and the seedling throwing mechanism 30 is mounted on the drone 20 . Figure 4 and Figure 5 Schematic diagram of the structure of the seedling throwing mechanism provided in the embodiment of the present application. Figure 4 and Figure 5As shown, the seedling throwing mechanism 30 includes a seedling delivery module 31 and a seedling retrieval module 32. The seedling delivery module 31 is used to transport the hole blanket seedlings 10, and the seedling retrieval module 32 is used to separate the seedlings 11 from the hole blanket seedlings 10 transported by the seedling delivery module 31 and then throw them out. When the drone 20 is equipped with the seedling throwing mechanism 30 to perform a flying seedling throwing operation, the hole blanket seedlings 10 can be transported by the seedling delivery module 31, and the seedling 11 can be thrown out after the hole blanket seedlings 10 are separated by the seedling retrieval module 32. It should be noted that there are many ways of separation, for example, cutting, grabbing, pushing out, pressing down, etc. The specific separation and seedling retrieval methods are not limited.

[0034] The drone 20 can be used to execute the rice seedling throwing control method provided in this embodiment. The drone 20 can be implemented by software and / or hardware. The drone 20 can be composed of two or more physical entities, or it can be composed of one physical entity. Among them, the drone 20 refers to a flying device that operates according to remote control instructions or preset instructions. Exemplarily, the drone 20 is a rotor drone, specifically a quad-rotor drone. Of course, it can also be a single-rotor drone, a dual-rotor drone, a six-rotor drone, an eight-rotor drone, etc. The drone 20 can automatically operate according to a preset path, flight speed, posture, etc., or the operator can manually control it.

[0035] The drone 20 is installed with at least one type of operating system, and the drone 20 can install at least one application based on the operating system, and the application can be an application that comes with the operating system, or an application that is downloaded from a third-party device or server. In this embodiment, the drone 20 has at least an application that can execute the rice seedling throwing control method.

[0036] It should be noted that the seedling throwing mechanism 30 also includes a control module, which can also be used to execute the seedling throwing control method provided in this embodiment.

[0037] For ease of understanding, this embodiment is described by taking the drone 20 as an example of the main body for executing the rice seedling throwing control method.

[0038] Figure 6 A flow chart of a rice seedling throwing control method provided in an embodiment of the present application is given. Figure 6 The rice seedling throwing control method specifically includes:

[0039] S110, obtaining the hole spacing of the hole blanket seedlings.

[0040] refer to Figure 1 and Figure 2, the hole blanket seedling 10 is a blanket seedling with a groove 12 formed at the connecting portion between two adjacent seedlings 11. The lateral width and longitudinal width of each seedling 11 in the hole blanket seedling 10 are the same, and the width of the grooves 12 distributed laterally in the hole blanket seedling 10 is the same, and the width of the grooves 12 distributed longitudinally is the same. The hole spacing of the hole blanket seedling 10 is the distance between two adjacent seedlings 11, and the hole spacing of the hole blanket seedling 10 includes a lateral hole spacing and a longitudinal hole spacing. The lateral hole spacing d1 is the distance between two adjacent seedlings 11 planted laterally, which is equal to the sum of the lateral width of the seedlings 11 and the width of the grooves 12 distributed laterally. The longitudinal hole spacing d2 is the distance between two adjacent seedlings 11 planted longitudinally, which is equal to the sum of the longitudinal width of the seedlings 11 and the width of the grooves 12 distributed longitudinally. In this embodiment, the distance between two adjacent seedlings 11 can be determined by measuring the distance between the center points of the two adjacent seedlings 11, or by measuring the distance between the same sides of the two adjacent seedlings 11, or by measuring the distance between the center points of two adjacent grooves 12.

[0041] In one embodiment, the staff can manually measure the distance between two adjacent seedlings 11 planted horizontally in the hole blanket seedlings 10 to determine the horizontal hole spacing of the hole blanket seedlings 10, and manually measure the distance between two adjacent seedlings 11 planted vertically in the hole blanket seedlings 10 to determine the vertical hole spacing of the hole blanket seedlings 10. The horizontal hole spacing and the vertical hole spacing of the hole blanket seedlings 10 are configured in the operation task of flying seedling throwing of the drone 20. When the drone 20 performs the operation task of flying seedling throwing, the horizontal hole spacing and the vertical hole spacing of the hole blanket seedlings 10 currently loaded by the seedling throwing mechanism 30 can be obtained from the operation task.

[0042] In another embodiment, the drone 20 is equipped with a camera for collecting images of the hole blanket seedlings 10 transported by the seedling delivery module 31. The drone 20 can obtain the images of the hole blanket seedlings 10 transported by the seedling delivery module 31, and determine the hole spacing of the hole blanket seedlings 10 based on the images of the hole blanket seedlings 10. Exemplarily, the drone 20 can identify the seedlings 11 in the image of the hole blanket seedlings 10, and determine two laterally adjacent seedlings 11 and two longitudinally adjacent seedlings 11 according to the positions of the identified seedlings 11. The lateral hole spacing of the hole blanket seedlings 10 is determined according to the positions of the center points of the two laterally adjacent seedlings 11. The longitudinal hole spacing of the hole blanket seedlings 10 is determined according to the positions of the center points of the two longitudinally adjacent seedlings 11.

[0043] S120. Based on the hole spacing, determine the first driving parameter of the seedling delivery module and / or the second driving parameter of the seedling removal module.

[0044] The first driving parameter is the motion parameter when the seedling delivery module 31 delivers the seedlings 10, and the second driving parameter is the motion parameter when the seedling removal module 32 removes the seedlings. Figure 1 and Figure 5, the hole blanket seedlings 10 are placed on the seedling delivery module 31. When the seedling delivery module 31 moves the seedlings 11 of the hole blanket seedlings 10 horizontally or vertically to the seedling picking point, the seedling picking module 32 just separates the connection between the seedlings 11 at the seedling picking point and the adjacent seedlings 11, and throws the seedlings 11 at the seedling picking point into the field for planting. It can be understood that when the seedlings 11 move to the seedling picking point and the seedling picking module 32 separates the connection between the seedlings 11 and the adjacent seedlings 11, the seedlings 11 can be accurately taken out of the hole blanket seedlings 10 without damaging the seedlings 11. The first driving parameter and the hole spacing determine the seedling delivery time interval when the seedling delivery module 31 transports two adjacent seedlings 11 to the seedling picking point, and the second driving parameter determines the seedling picking time interval when the seedling picking module 32 performs the separation operation on the two adjacent seedlings 11. When the time interval for sending the seedlings is the same as the time interval for taking the seedlings, the separation operation of the taking-seedling module 32 can be ensured to be synchronized with the operation of the sending module 31 to move the seedlings 11 to the taking-seedling point. Therefore, the first driving parameter and / or the second driving parameter for controlling the operation of the sending module 31 and the taking-seedling module 32 to be synchronized can be determined according to the hole spacing of the hole blanket seedlings 10 and the time interval for sending the seedlings or the time interval for taking the seedlings. Under the action of the first driving parameter and / or the second driving parameter, the sending module 31 and the taking-seedling module 32 can cooperate with each other, so that the taking-seedling module 32 can just separate the connection between two adjacent seedlings 11 in the hole blanket seedlings 10.

[0045] refer to Figure 3 to Figure 5 The seedling delivery module 31 includes a seedling support plate 312, a seedling delivery tray 311 and a driving device 315. The seedling support plate 312 is provided with an opening 313. The lower part of the seedling delivery tray 311 is located inside the seedling support plate 312. The seedling delivery tray 311 is used to place the seedling blanket seedlings 10. The driving device 315 is used to drive the seedling delivery tray 311 to move laterally relative to the seedling support plate 312. The seedling removal module 32 includes a driving source 321 and a cutter head 322. The driving source 321 is used to drive the cutter head 322 to rotate so as to separate the seedlings 11 of the seedling blanket seedlings 10 on the seedling delivery tray 311 through the opening 313, and throw out the separated seedlings 11. Figure 5 It can be known that the seedling delivery module 31 includes a plurality of seedling delivery trays 311, and the plurality of seedling delivery trays 311 are arranged side by side on the seedling supporting plate 312, and the plurality of seedling delivery trays 311 move synchronously. Correspondingly, the seedling throwing mechanism 30 includes a plurality of seedling picking modules 32, and the seedling picking modules 32 correspond to the seedling delivery trays 311 one by one. Among them, the opening 313 provided on the seedling supporting plate 312 is the seedling picking point of the seedling picking module 32. The seedling picking module 32 and the seedling supporting plate 312 remain stationary, and the seedling delivery tray 311 can move back and forth in the left and right directions. During the horizontal movement of the seedling delivery tray 311, the seedling picking module 32 separates the seedlings 11 exposed in the opening 313 from the adjacent seedlings 11, thereby realizing the separation and throwing of the hole blanket seedlings 10 row by row and bunch by bunch. The driving source 321 can drive the cutter head 322 along Figure 3The cutter head 322 rotates in the direction indicated by the arrow A, thereby separating the seedlings 10 in the process of contacting the hole blanket. The separated seedlings 11 rotate along the direction of the arrow A following the cutter head 322. When the seedlings 11 rotate to a specific position, the seedlings 11 are thrown out under the action of centrifugal force and / or ejection force. Further, the seedling removal module 32 can evenly arrange multiple cutter heads 322. For example, when a seedling removal module 32 is provided with two cutter heads 322, the angle between the two cutter heads 322 and the center of the driving source 321 is 180 degrees, three cutter heads 322 can be spaced 120 degrees apart, and four cutter heads 322 can be spaced 90 degrees apart.

[0046] refer to Figure 4 The seedling delivery module 31 further includes a conveying device 314, which is used to drive the hole blanket seedlings 10 on the seedling delivery tray 311 to move toward the seedling supporting plate 312. The conveying device 314 can be a conveyor belt or a conveying roller (such as a wolf tooth wheel).

[0047] In this embodiment, the seedling sending module 31 is provided with a seedling sending tray 311 as an example to describe the seedling throwing process of the seedling throwing mechanism 30 . Figure 7 to Figure 10 Schematic diagram of the structure of the seedling throwing mechanism 30 provided in the embodiment of the present application. Figures 7-10As shown, the seedling delivery tray 311 initially places eight rows and five columns of hole blanket seedlings 10, and the initial position of the seedling delivery tray 311 is the right side of the seedling support plate 312. When the drone 20 starts to perform the flying seedling throwing operation, the seedling delivery tray 311 is controlled to start to move horizontally and the seedling picking module 32 is controlled to start to rotate. The cutter head 322 of the seedling picking module 32 rotates to the opening 313 to cut off the connection between the seedlings 11 in the first row and the first column of the hole blanket seedlings 10 and the seedlings 11 in the first row and the second column, and throw the seedlings 11 in the first row and the first column into the field for planting. The seedling delivery tray 311 moves horizontally to the left, and when the seedlings 11 in the first row and the second column move to the opening 313, the cutter head 322 of the seedling picking module 32 rotates to the opening 313 to cut off the connection between the seedlings 11 in the first row and the third column, and throw the seedlings 11 in the first row and the second column into the field for planting. This is repeated, and when the seedling delivery tray 311 moves horizontally to the left side of the seedling support board 312, the seedlings 11 in the first row and the fifth column move to the opening 313, and the cutter head 322 of the seedling removal module 32 rotates to the opening 313 to throw the seedlings 11 in the first row and the fifth column into the field for planting. At this time, the seedlings 11 in the first row of the hole blanket seedlings 10 have been thrown out, and the seedling delivery tray 311 can be controlled to stop moving horizontally and the conveying device 314 can be started to move the hole blanket seedlings 10 on the seedling delivery tray 311 toward the seedling support board 312, and the conveying device 314 is stopped when the seedlings 11 in the second row of the hole blanket seedlings 10 move to the seedling support board 312. At the same time as the conveying device 314 stops, the cutter head 322 of the seedling removal module 32 just rotates to the opening 313 and cuts off the connection between the seedlings 11 in the second row and the fourth column at the opening 313, and throws out the seedlings 11 in the second row and the fifth column. At the same time, the seedling delivery tray 311 is started to move rightward to move the seedlings 11 in the fourth column of the second row to the opening 313, and this process is repeated until all the seedlings 11 on the seedling delivery tray 311 are thrown out.

[0048] It should be noted that the initial position of the seedling delivery tray 311 may also be the left side of the seedling supporting plate 312 , and move horizontally to the right after starting. This embodiment does not limit the initial position of the seedling delivery tray 311 .

[0049] In one embodiment, the first driving parameter includes the lateral movement speed of the seedling delivery tray 311, and the second driving parameter includes the first rotation speed of the seedling retrieval module 32, wherein the first rotation speed of the seedling retrieval module 32 is the rotation speed of the cutter head 322 when the seedling delivery tray 311 moves laterally. It can be seen from the above-mentioned seedling throwing process that when the first time interval T1 when the seedling delivery tray 311 moves two laterally adjacent seedlings 11 in the hole blanket seedling 10 back and forth to the opening 313 is equal to the second time interval T2 when the two adjacently arranged cutter heads 322 of the seedling retrieval module 32 move back and forth to the opening 313 during the lateral movement of the seedling delivery tray 311 to separate the seedlings 11 at the opening 313, it can be ensured that the cutter head 322 accurately cuts the connecting portion between the two adjacent seedlings 11. Reference Figure 7 and Figure 8, the lateral displacement of the two laterally adjacent seedlings 11 in the hole blanket seedlings 10 to the opening 313 by the seedling delivery tray 311 is equal to the lateral hole spacing of the hole blanket seedlings 10, so the first time interval T1 = d1 / v1, d1 is the lateral hole spacing of the hole blanket seedlings 10, and v1 is the lateral movement speed of the seedling delivery tray 311. The second time interval T2 = α / w1, α is the angle of the cutter head 322 of the seedling taking module 32, and w1 is the first rotation speed of the seedling taking module 32. The angle of the cutter head 322 is the angle between the two adjacent cutter heads 322 in the seedling taking module 32. If the seedling taking module 32 has only one cutter head 322, then the angle of the cutter head 322 is 360 degrees. When T2 = T1, d1 / v1 = α / w1. It can be seen from d1 / v1 = α / w1 that when any three parameters in the formula are used, the last parameter can be determined. The transverse hole spacing and the angle between the blade heads 322 are pre-determined parameters, and therefore, the present embodiment proposes that the lateral movement speed of the seedling delivery tray 311 and / or the first rotation speed of the seedling removal module 32 can be determined based on the transverse hole spacing.

[0050] Exemplarily, if the first rotation speed of the seedling picking module 32 is preset, the first seedling picking time interval can be determined based on the first rotation speed of the seedling picking module 32, and the first seedling picking time interval is the time interval for picking two laterally adjacent seedlings 11 in the hole blanket seedling 10; based on the first seedling picking time interval and the lateral hole spacing, the lateral movement speed of the seedling delivery tray 311 is determined. It can be understood that the first seedling picking time interval is the second time interval T2. Based on the first rotation speed w1, the angle α of the cutter head 322 and the calculation formula T2=α / w1, the second time interval T2 can be determined. Since the second time interval T2 is equal to the first time interval T1, the lateral movement speed v1 can be determined based on the first time interval T1, the lateral hole spacing d1 and the calculation formula T1=d1 / v1.

[0051] If the transverse speed of the seedling delivery tray 311 is preset, the first seedling picking time interval can be determined based on the transverse hole spacing and the preset transverse speed; based on the first seedling picking time interval, the first rotation speed of the seedling picking module 32 is determined. Exemplarily, the first time interval T1 can be determined based on the transverse hole spacing d1, the transverse speed v1 and the calculation formula T1=d1 / v1, and since the first time interval T1 is equal to the second time interval T2, the first rotation speed w1 can be determined based on the second time interval T2, the angle α of the cutter head 322 and the calculation formula T2=α / w1.

[0052] If the second time interval T2 is preset, the lateral speed of the seedling delivery tray 311 can be determined based on the preset first seedling picking time interval and the lateral hole spacing; the first rotation speed of the seedling picking module 32 can be determined based on the preset first seedling picking time interval. Exemplarily, since the second time interval T2 is equal to the first time interval T1, the lateral speed v1 can be determined based on the first time interval T1, the lateral hole spacing d1 and the calculation formula T1=d1 / v1. The first rotation speed w1 can be determined based on the second time interval T2, the angle α of the cutter head 322 and the calculation formula T2=α / w1.

[0053] It should be noted that when the drone 20 performs a flying seedling throwing operation in a stable environment, the second time interval T2 is approximately equal to the third time interval T3 between two adjacent seedlings 11 planted in the field, and the third time interval T3 = d3 / v2, d3 is the spacing between adjacent seedlings 11 planted in the field, and v2 is the first flight speed of the drone 20 when the seedling delivery tray 311 moves horizontally. Since there are requirements for the spacing between adjacent seedlings 11 in the field, when the first rotation speed of the seedling picking module 32 changes, if the first flight speed of the drone 20 is not adjusted, the seedlings 11 planted by the drone 20 will not meet the requirements for the spacing between the seedlings 11. In this regard, the first flight speed of the drone 20 can be determined based on the preset spacing between the seedlings 11 and the first rotation speed. Exemplarily, the first rotation speed v1 and the angle α of the blade 322 can determine the second time interval T2. Since the second time interval T2 is equal to the third time interval T3, the first flight speed v2 can be determined based on the seedling 11 spacing d3, the third time interval T3 and the calculation formula T3=d3 / v2.

[0054] Furthermore, if the first flight speed of the drone 20 is preset, the third time interval can be determined based on the first flight speed and the spacing between the seedlings 11, thereby obtaining the second time interval and the first time interval. The lateral speed can be determined based on the first time interval and the lateral hole spacing, and the first rotation speed can be determined based on the second time interval and the angle between the cutter heads 322.

[0055] In one embodiment, the first driving parameter includes the conveying displacement of the conveying device 314, wherein the conveying displacement is the moving distance of the conveying device 314 from starting to stopping, which is equal to the longitudinal moving distance of the hole blanket seedlings 10. It can be understood that if the conveying device 314 stops conveying before moving the current first row of seedlings 11 of the hole blanket seedlings 10 to the seedling supporting plate 312, then when the conveying device 314 stops, there is a certain distance between the current first row of seedlings 11 and the opening 313 in the longitudinal direction, resulting in the blade 322 of the seedling picking module 32 not picking up the seedlings 11 or cutting the seedlings 11 when rotating to the opening 313, affecting the efficiency of the seedling throwing operation of the drone 20. In this regard, the present embodiment proposes that the conveying displacement of the conveying device 314 can be determined based on the longitudinal hole spacing. Reference Fig. 9 and Fig.10 After a row of seedlings 11 is cast, the longitudinal distance between the current first row of seedlings 11 and the seedling supporting board 312 is equal to the longitudinal hole spacing of the hole blanket seedlings 10. Therefore, the longitudinal hole spacing is determined as the conveying displacement of the conveying device 314, so that the conveying device 314 moves the hole blanket seedlings 10 on the seedling delivery tray 311 toward the seedling supporting board 312. After the conveying displacement, the current first row of seedlings 11 moves to the seedling supporting board 312.

[0056] In this embodiment, the second driving parameter includes the second rotation speed of the seedling taking module 32, wherein the second rotation speed of the seedling taking module 32 is the rotation speed of the cutter head 322 during the conveying of the conveying device 314. It can be seen from the conveying process of the conveying device 314 that when the fourth time interval T4 from the start to the stop of the conveying device 314 is equal to the fifth time interval T5 during the conveying process of the conveying device 314, when the two adjacent cutter heads 322 of the seedling taking module 32 turn back and forth to the opening 313 to separate the seedlings 11 at the opening 313, it can be ensured that the cutter head 322 accurately cuts the connection between two adjacent seedlings 11. The fourth time interval T4 = d4 / v3, the fifth time interval T5 = α / w2, wherein d4 is the conveying displacement of the conveying device 314, v3 is the conveying speed of the conveying device 314, and w2 is the second rotation speed of the seedling taking module 32. When T4 = T5, d4 / v3 = α / w2. Therefore, after determining the conveying displacement of the conveying device 314, the second time interval for picking up seedlings can be determined according to the conveying displacement and the conveying speed of the conveying device 314; the second time interval for picking up seedlings is the time interval for picking up seedlings of two longitudinally adjacent seedlings 11 on the side of the hole blanket seedling 10; based on the second time interval for picking up seedlings, the second rotation speed of the picking up seedling module 32 is determined. It can be understood that the second time interval for picking up seedlings is the fifth time interval T5. Based on the conveying displacement d4, the conveying speed v3 and the calculation formula T4=d4 / v3, the fourth time interval T4 can be determined. Since the fourth time interval T4 is equal to the fifth time interval T5, the second rotation speed w2 can be determined based on the fifth time interval T5, the angle α of the cutter head 322 and the calculation formula T5=α / w2.

[0057] If the first rotation speed w1 and the second rotation speed w2 are to be kept consistent, the conveying speed of the conveying device 314 can be determined according to the first rotation speed and the conveying displacement. Exemplarily, when the first rotation speed w1 is equal to the second rotation speed w2, the fifth time interval T5 is determined based on the second rotation speed w2, the angle α of the cutter head 322 and the calculation formula T5=α / w2. Since the fifth time interval T5 is equal to the fourth time interval T4, the conveying speed v3 can be determined based on the fourth time interval T4, the conveying displacement d4 and the calculation formula T4=d4 / v3.

[0058] It should be noted that in order to ensure that the seedlings 11 planted by the drone 20 during the transportation process of the conveying device 314 meet the requirements of the plant spacing, the second flight speed of the drone 20 can be determined according to the preset plant spacing of the seedlings 11 and the second rotation speed. The second flight speed is the second flight speed of the drone 20 during the transportation process of the conveying device 314.

[0059] S130. Control the seedling delivery module and / or the seedling retrieval module according to the first driving parameter and / or the second driving parameter, so that the seedling retrieval module can separate the seedlings at the connection part between two adjacent seedlings of the hole blanket seedlings.

[0060] Exemplarily, if the drone 20 pre-sets the first rotation speed of the seedling picking module 32, then after determining the lateral movement speed of the seedling delivery tray 311, the seedling picking module 32 and the seedling delivery tray 311 can be controlled separately according to the first rotation speed and the lateral movement speed, so that when the seedling delivery tray 311 moves the seedlings 11 of the hole blanket seedlings 10 to the opening 313 of the seedling support plate 312, the cutter head 322 of the seedling picking module 32 cuts the connection between the seedling 11 at the opening 313 and the adjacent seedling 11, and throws the seedling 11 at the opening 313 into the field for planting. In another embodiment, if the drone 20 pre-sets the lateral movement speed of the seedling delivery tray 311, then after determining the first rotation speed of the seedling picking module 32, the seedling picking module 32 and the seedling delivery tray 311 can be controlled separately according to the lateral movement speed and the first rotation speed. If the drone 20 is pre-set with the second time interval, after determining the lateral movement speed of the seedling delivery tray 311 and the first rotation speed of the seedling retrieval module 32 , the seedling retrieval module 32 and the seedling delivery tray 311 can be controlled separately according to the lateral movement speed and the first rotation speed.

[0061] Further, when the seedling delivery tray 311 moves to the boundary position of the seedling support plate 312, the conveying device 314 is controlled to move the conveying displacement. The boundary position of the seedling support plate 312 is the left side or the right side of the seedling support plate 312. Exemplarily, if the first rotation speed is consistent with the second rotation speed, after the conveying speed of the conveying device 314 is determined, when the seedling delivery tray 311 moves horizontally to the left side or the right side of the seedling support plate 312, the seedling delivery tray 311 is controlled to stop moving and the conveying device 314 is started. After the conveying device 314 is controlled to move the conveying displacement at the conveying speed, the conveying device 314 is controlled to stop conveying, and the rotation speed of the cutter head 322 of the seedling removal module 32 remains unchanged, so that when the first row of seedlings 11 of the hole blanket seedlings 10 is transported to the opening 313 of the seedling support plate 312, the cutter head 322 of the seedling removal module 32 separates the connection between the seedlings 11 at the opening 313 and the adjacent seedlings 11, and throws the seedlings 11 at the opening 313 into the field for planting. When the conveying device 314 stops conveying, the seedling delivery tray 311 is started so that the seedling delivery tray 311 can move the remaining seedlings 11 of the first row of seedlings 11 horizontally to the opening 313 .

[0062] In another embodiment, if the conveying speed of the conveying device 314 is preset, after determining the second rotation speed, when the seedling delivery tray 311 moves to the boundary position of the seedling supporting plate 312, the conveying device 314 is controlled to move the conveying displacement at the conveying speed, and the seedling taking module 32 is controlled to rotate at the second rotation speed. Exemplarily, when the seedling delivery tray 311 moves horizontally to the left side or right side of the seedling supporting plate 312, the seedling delivery tray 311 is controlled to stop moving and the conveying device 314 is driven. After controlling the conveying device 314 to move the conveying displacement at a preset conveying speed, the conveying device 314 is controlled to stop conveying, and when the conveying device 314 is started, the rotation speed of the cutter head 322 of the seedling taking module 32 is adjusted from the first rotation speed to the second rotation speed, so that when the first row of seedlings 11 of the hole blanket seedlings 10 are conveyed to the opening 313 of the seedling supporting plate 312, the cutter head 322 of the seedling taking module 32 separates the connection between the seedlings 11 at the opening 313 and the adjacent seedlings 11, and throws the seedlings 11 at the opening 313 into the field for planting. When the conveying device 314 stops conveying, the seedling delivery tray 311 is started and the rotation speed of the cutter head 322 of the seedling retrieval module 32 is adjusted from the second rotation speed to the first rotation speed, so that when the seedling delivery tray 311 moves the remaining seedlings 11 of the first row of seedlings 11 horizontally to the opening 313, the cutter head 322 of the seedling retrieval module 32 separates the connection between the seedling 11 at the opening 313 and the adjacent seedlings 11, and throws the seedlings 11 at the opening 313 into the field for planting.

[0063] Regardless of how the transverse hole spacing and the longitudinal hole spacing of the seedling blanket 10 change, this embodiment determines the first driving parameter and / or the second driving parameter based on the transverse hole spacing and the longitudinal hole spacing, and can adjust the time point when the seedling delivery module 31 transports the seedlings 11 to the seedling picking point and the time point when the seedling picking module 32 separates and throws out the seedlings 11 at the seedling picking point to be synchronized, so that one of the seedlings 11 can be accurately taken out of the seedling blanket 10, and the seedling picking module 32 will not damage the seedling 11.

[0064] In summary, the seedling throwing control method, seedling throwing mechanism 30 and seedling throwing system provided in the embodiments of the present application obtain the hole spacing of the hole blanket seedlings 10 loaded by the seedling throwing mechanism 30 through the drone 20 during the seedling throwing operation, and determine the first driving parameters of the seedling delivery module 31 for conveying the hole blanket seedlings 10 and / or the second driving parameters of the seedling retrieval module 32 for separating and throwing out the seedlings 11 in the hole blanket seedlings 10 according to the hole spacing of the hole blanket seedlings 10. The seedling delivery module 31 and / or the seedling retrieval module 32 are controlled according to the first driving parameters and / or the second driving parameters so that the seedling retrieval module 32 can separate the seedlings 11 at the connecting part between two adjacent seedlings 11 of the hole blanket seedlings 10. Through the above-mentioned technical means, no matter what type of hole blanket seedlings 10 are loaded on the seedling throwing mechanism 30 of the drone 20, the drone 20 can adjust the driving parameters of the seedling delivery module 31 and / or the seedling retrieval module 32 based on the hole spacing of the hole blanket seedlings 10, so that the seedling delivery module 31 and the seedling retrieval module 32 cooperate with each other to achieve that the seedling retrieval module 32 can just separate the connecting part between two adjacent seedlings 11 in the hole blanket seedlings 10, so that one of the seedlings 11 can be accurately taken out from the hole blanket seedlings 10, and the seedling retrieval module 32 will not damage the seedlings 11, which solves the problem that the drone 20 is only suitable for taking and throwing seedlings of the same type of hole blanket seedlings 10, thereby improving the applicability of the drone 20.

[0065] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for controlling seedling throwing, characterized in that: A drone mounted with a seedling throwing mechanism, wherein the seedling throwing mechanism comprises a seedling sending module and a seedling taking module, wherein the seedling sending module is used to transport the seedlings in the hole blanket, and the seedling taking module is used to separate the seedlings from the seedlings in the hole blanket transported by the seedling sending module and then throw them out; the method comprises: Obtaining the hole spacing of the hole blanket seedlings; Based on the hole spacing, determining a first driving parameter of the seedling delivery module and / or a second driving parameter of the seedling removal module; The seedling delivery module and / or the seedling retrieval module are controlled according to the first driving parameter and / or the second driving parameter, so that the seedling retrieval module can separate the seedlings at the connection part between two adjacent seedlings of the hole blanket seedlings.

2. The rice seedling throwing control method according to claim 1, characterized in that: The soil thickness of the connection part between two adjacent seedlings of the hole blanket seedlings is thinner than the soil thickness of the roots of the seedlings, and the hole spacing of the hole blanket seedlings is the distance between two adjacent seedlings.

3. The rice seedling throwing control method according to claim 1, characterized in that: The seedling sending module includes a seedling supporting plate, a seedling sending tray and a driving device, the seedling supporting plate is provided with an opening, the lower part of the seedling sending tray is located inside the seedling supporting plate, the seedling sending tray is used for placing the hole blanket seedlings, and the driving device is used for driving the seedling sending tray to move laterally relative to the seedling supporting plate; the seedling taking module includes a driving source and a cutter head, the driving source is used to drive the cutter head to rotate so as to separate the seedlings of the hole blanket seedlings on the seedling sending tray through the opening and throw out the separated seedlings.

4. The method for controlling seedling throwing according to claim 3, characterized in that: The hole spacing includes a transverse hole spacing; accordingly, determining the first driving parameter of the seedling delivery module and / or the second driving parameter of the seedling removal module based on the hole spacing includes: Based on the transverse hole spacing, the lateral movement speed of the seedling delivery tray and / or the first rotation speed of the seedling taking module are determined.

5. The method for controlling seedling throwing according to claim 4, characterized in that: The determining, based on the transverse hole spacing, of the lateral movement speed of the seedling delivery tray and / or the first rotation speed of the seedling taking module comprises: Based on the first rotation speed of the seedling picking module, determining a first seedling picking time interval, wherein the first seedling picking time interval is a seedling picking time interval between two laterally adjacent seedlings in the hole blanket seedlings; Based on the first seedling picking time interval and the transverse hole spacing, the transverse movement speed of the seedling delivery tray is determined.

6. The method for controlling seedling throwing according to claim 4, characterized in that: The determining, based on the transverse hole spacing, of the lateral movement speed of the seedling delivery tray and / or the first rotation speed of the seedling taking module comprises: Based on the transverse hole spacing and the preset transverse movement speed, determining a first seedling picking time interval; Based on the first seedling-picking time interval, a first rotational speed of the seedling-picking module is determined.

7. The rice seedling throwing control method according to claim 4, characterized in that: The determining, based on the transverse hole spacing, of the lateral movement speed of the seedling delivery tray and / or the first rotation speed of the seedling taking module comprises: Determining the lateral movement speed of the seedling delivery tray based on a preset first seedling picking time interval and the lateral hole spacing; Based on a preset first seedling-picking time interval, a first rotational speed of the seedling-picking module is determined.

8. The rice seedling throwing control method according to claim 6 or 7, characterized in that: After determining the first rotation speed of the seedling taking module, the method further includes: The first flight speed of the UAV is determined according to the preset seedling spacing and the first rotation speed.

9. The rice seedling throwing control method according to claim 3, characterized in that: The seedling delivery module also includes a conveying device, which is used to drive the perforated blanket seedlings on the seedling delivery tray to move toward the seedling supporting plate.

10. The rice seedling throwing control method according to claim 9, characterized in that: The hole spacing also includes a longitudinal hole spacing; accordingly, determining the first driving parameter of the seedling delivery module and / or the second driving parameter of the seedling removal module based on the hole spacing includes: Based on the longitudinal hole spacing, a conveying displacement of the conveying device is determined.

11. The method for controlling seedling throwing according to claim 10, characterized in that: The controlling the seedling sending module and / or the seedling taking module according to the first driving parameter and / or the second driving parameter comprises: When the seedling delivery tray moves to the boundary position of the seedling supporting plate, the conveying device is controlled to move the conveying displacement.

12. The rice seedling throwing control method according to claim 10, characterized in that: After determining the conveying displacement of the conveying device based on the longitudinal hole spacing, the method further includes: Determine a second seedling picking time interval according to the conveying displacement and the conveying speed of the conveying device; the second seedling picking time interval is a seedling picking time interval of two longitudinally adjacent seedlings on the side of the hole blanket seedling; Based on the second seedling-picking time interval, a second rotational speed of the seedling-picking module is determined.

13. The rice seedling throwing control method according to claim 12, characterized in that: The controlling the seedling sending module and / or the seedling taking module according to the first driving parameter and / or the second driving parameter comprises: When the seedling delivery tray moves to the boundary position of the seedling supporting plate, the conveying device is controlled to move the conveying displacement at the conveying speed, and the seedling taking module is controlled to rotate at the second rotation speed.

14. The rice seedling throwing control method according to claim 1, characterized in that: The method of obtaining the hole spacing of the hole blanket seedlings comprises: An image of the hole blanket seedlings transported by the seedling delivery module is acquired, and the hole spacing of the hole blanket seedlings is determined based on the image of the hole blanket seedlings.

15. A seedling throwing mechanism, characterized in that: Mounted on a drone, the seedling throwing mechanism includes: A seedling delivery module, the seedling delivery module is used to deliver the perforated blanket seedlings; A seedling taking module, which is used to separate the seedlings from the perforated blanket seedlings transported by the seedling delivery module and then throw them out; The control module is configured to execute the rice seedling throwing control method as described in any one of claims 1-14.

16. A seedling throwing system, characterized in that: It includes a drone and a seedling throwing mechanism, wherein the seedling throwing mechanism is mounted on the drone, and the seedling throwing mechanism includes a seedling sending module and a seedling taking module, wherein: The seedling delivery module is used for delivering the seedlings of the hole blanket; The seedling taking module is used to separate the seedlings from the perforated blanket seedlings transported by the seedling delivery module and then throw them out; The drone is configured to execute the rice seedling throwing control method as described in any one of claims 1-14.

Images